Complete Parameter List

Full Parameter List of Rover latest V4.7.0 dev

You can change and check the parameters for another version:

This is a complete list of the parameters which can be set (e.g. via the MAVLink protocol) to control vehicle behaviour. They are stored in persistent storage on the vehicle.

This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.

Rover Parameters

FORMAT_VERSION: Eeprom format version number

Note: This parameter is for advanced users

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

LOG_BITMASK: Log bitmask

Note: This parameter is for advanced users

Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all basic log types by setting this to 65535.

Bitmask
Bit Meaning 0 Fast Attitude 1 Medium Attitude 2 GPS 3 System Performance 4 Throttle 5 Navigation Tuning 7 IMU 8 Mission Commands 9 Battery Monitor 10 Rangefinder 11 Compass 12 Camera 13 Steering 14 RC Input-Output 19 Raw IMU 20 Video Stabilization 21 Optical Flow

RST_SWITCH_CH: Reset Switch Channel

Note: This parameter is for advanced users

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

INITIAL_MODE: Initial driving mode

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Manual 1 Acro 3 Steering 4 Hold 5 Loiter 6 Follow 7 Simple 8 Dock 9 Circle 10 Auto 11 RTL 12 SmartRTL 15 Guided

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
Bit Meaning 0 Steering 1 Throttle 2 Pitch 3 Left Wheel 4 Right Wheel 5 Sailboat Heel 6 Velocity North 7 Velocity East

AUTO_TRIGGER_PIN: Auto mode trigger pin

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

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

AUTO_KICKSTART: Auto mode trigger kickstart acceleration

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

Increment	Range	Units
0.1	0 to 20	meters per square second

CRUISE_SPEED: Target cruise speed in auto modes

The target speed in auto missions.

Increment	Range	Units
0.1	0 to 100	meters per second

CRUISE_THROTTLE: Base throttle percentage in auto

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

Increment	Range	Units
1	0 to 100	percent

PILOT_STEER_TYPE: Pilot input steering type

Pilot RC input interpretation

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

FS_ACTION: Failsafe Action

What to do on a failsafe event

Values
Value Meaning 0 Nothing 1 RTL 2 Hold 3 SmartRTL or RTL 4 SmartRTL or Hold 5 Terminate 6 Loiter or Hold

FS_TIMEOUT: Failsafe timeout

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

Increment	Range	Units
0.5	1 to 100	seconds

FS_THR_ENABLE: Throttle Failsafe Enable

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

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

FS_THR_VALUE: Throttle Failsafe Value

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

Increment	Range
1	910 to 1100

FS_GCS_ENABLE: GCS failsafe enable

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

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

FS_CRASH_CHECK: Crash check action

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

Values
Value Meaning 0 Disabled 1 Hold 2 HoldAndDisarm

FS_EKF_ACTION: EKF Failsafe Action

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Hold 2 ReportOnly

FS_EKF_THRESH: EKF failsafe variance threshold

Note: This parameter is for advanced users

Allows setting the maximum acceptable compass and velocity variance

Values
Value Meaning 0.6 Strict 0.8 Default 1.0 Relaxed

MODE_CH: Mode channel

Note: This parameter is for advanced users

RC Channel to use for driving mode control

MODE1: Mode1

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

Values
Value Meaning 0 Manual 1 Acro 3 Steering 4 Hold 5 Loiter 6 Follow 7 Simple 8 Dock 9 Circle 10 Auto 11 RTL 12 SmartRTL 15 Guided

MODE2: Mode2

Driving mode for switch position 2 (1231 to 1360)

Values
Value Meaning 0 Manual 1 Acro 3 Steering 4 Hold 5 Loiter 6 Follow 7 Simple 8 Dock 9 Circle 10 Auto 11 RTL 12 SmartRTL 15 Guided

MODE3: Mode3

Driving mode for switch position 3 (1361 to 1490)

Values
Value Meaning 0 Manual 1 Acro 3 Steering 4 Hold 5 Loiter 6 Follow 7 Simple 8 Dock 9 Circle 10 Auto 11 RTL 12 SmartRTL 15 Guided

MODE4: Mode4

Driving mode for switch position 4 (1491 to 1620)

Values
Value Meaning 0 Manual 1 Acro 3 Steering 4 Hold 5 Loiter 6 Follow 7 Simple 8 Dock 9 Circle 10 Auto 11 RTL 12 SmartRTL 15 Guided

MODE5: Mode5

Driving mode for switch position 5 (1621 to 1749)

Values
Value Meaning 0 Manual 1 Acro 3 Steering 4 Hold 5 Loiter 6 Follow 7 Simple 8 Dock 9 Circle 10 Auto 11 RTL 12 SmartRTL 15 Guided

MODE6: Mode6

Driving mode for switch position 6 (1750 to 2049)

Values
Value Meaning 0 Manual 1 Acro 3 Steering 4 Hold 5 Loiter 6 Follow 7 Simple 8 Dock 9 Circle 10 Auto 11 RTL 12 SmartRTL 15 Guided

TURN_RADIUS: Turn radius of vehicle

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

Increment	Range	Units
0.1	0 to 10	meters

ACRO_TURN_RATE: Acro mode turn rate maximum

Acro mode turn rate maximum

Increment	Range	Units
1	0 to 360	degrees per second

RTL_SPEED: Return-to-Launch speed default

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

Increment	Range	Units
0.1	0 to 100	meters per second

FRAME_CLASS: Frame Class

Frame Class

Values
Value Meaning 0 Undefined 1 Rover 2 Boat 3 BalanceBot

BAL_PITCH_MAX: BalanceBot Maximum Pitch

Pitch angle in degrees at 100% throttle

Increment	Range	Units
0.1	0 to 15	degrees

CRASH_ANGLE: Crash Angle

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

Increment	Range	Units
1	0 to 60	degrees

FRAME_TYPE: Frame Type

Note: Reboot required after change

Frame Type

Values
Value Meaning 0 Undefined 1 Omni3 2 OmniX 3 OmniPlus 4 Omni3Mecanum

LOIT_TYPE: Loiter type

Loiter behaviour when moving to the target point

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

SIMPLE_TYPE: Simple_Type

Note: Reboot required after change

Simple mode types

Values
Value Meaning 0 InitialHeading 1 CardinalDirections

LOIT_RADIUS: Loiter radius

Vehicle will drift when within this distance of the target position

Increment	Range	Units
1	0 to 20	meters

MIS_DONE_BEHAVE: Mission done behave

Behaviour after mission completes

Values
Value Meaning 0 Hold in Auto Mode 1 Loiter in Auto Mode 2 Acro Mode 3 Manual Mode

BAL_PITCH_TRIM: Balance Bot pitch trim angle

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

Increment	Range	Units
0.1	-2 to 2	degrees

STICK_MIXING: Stick Mixing

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

SPEED_MAX: Speed maximum

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0 to 30	meters per second

LOIT_SPEED_GAIN: Loiter speed gain

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 to 5

FS_OPTIONS: Failsafe Options

Note: This parameter is for advanced users

Bitmask to enable failsafe options

Bitmask
Bit Meaning 0 Failsafe enabled in Hold mode

GUID_OPTIONS: Guided mode options

Note: This parameter is for advanced users

Options that can be applied to change guided mode behaviour

Bitmask
Bit Meaning 6 SCurves used for navigation

MANUAL_OPTIONS: Manual mode options

Note: This parameter is for advanced users

Manual mode specific options

Bitmask
Bit Meaning 0 Enable steering speed scaling

MANUAL_STR_EXPO: Manual Steering Expo

Note: This parameter is for advanced users

Manual steering expo to allow faster steering when stick at edges

Range	Values
-0.5 to 0.95	Value Meaning 0 Disabled 0.1 Very Low 0.2 Low 0.3 Medium 0.4 High 0.5 Very High

FS_GCS_TIMEOUT: GCS failsafe timeout

Timeout before triggering the GCS failsafe

Increment	Range	Units
1	2 to 120	seconds

CH7_OPTION: Channel 7 option

What to do use channel 7 for

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

AUX_CH: Auxiliary switch channel

Note: This parameter is for advanced users

RC Channel to use for auxiliary functions including saving waypoints

PIVOT_TURN_ANGLE: Pivot turn angle

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

Increment	Range	Units
1	0 to 360	degrees

PIVOT_TURN_RATE: Pivot turn rate

Desired pivot turn rate in deg/s.

Increment	Range	Units
1	0 to 360	degrees per second

VEHICLE Parameters

FLTMODE_GCSBLOCK: Flight mode block from GCS

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

Bitmask
Bit Meaning 0 Manual 1 Acro 2 Steering 3 Loiter 4 Follow 5 Simple 6 Circle 7 Auto 8 RTL 9 SmartRTL 10 Guided 11 Dock

AFS_ Parameters

AFS_ENABLE: Enable Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_MAN_PIN: Manual Pin

Note: This parameter is for advanced users

This sets a digital output pin to set high when in manual mode. See the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

AFS_HB_PIN: Heartbeat Pin

Note: This parameter is for advanced users

This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

AFS_WP_COMMS: Comms Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on comms loss

AFS_WP_GPS_LOSS: GPS Loss Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on GPS lock loss

AFS_TERMINATE: Force Terminate

Note: This parameter is for advanced users

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

AFS_TERM_ACTION: Terminate action

Note: This parameter is for advanced users

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

AFS_TERM_PIN: Terminate Pin

Note: This parameter is for advanced users

This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

AFS_AMSL_LIMIT: AMSL limit

Note: This parameter is for advanced users

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

Units
meters

AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit

Note: This parameter is for advanced users

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

Units
meters

AFS_QNH_PRESSURE: QNH pressure

Note: This parameter is for advanced users

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

Units
hectopascal

AFS_MAX_GPS_LOSS: Maximum number of GPS loss events

Note: This parameter is for advanced users

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

AFS_MAX_COM_LOSS: Maximum number of comms loss events

Note: This parameter is for advanced users

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

AFS_GEOFENCE: Enable geofence Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_RC: Enable RC Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes

Note: This parameter is for advanced users

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

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

Note: This parameter is for advanced users

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

AFS_RC_FAIL_TIME: RC failure time

Note: This parameter is for advanced users

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

Units
seconds

AFS_MAX_RANGE: Max allowed range

Note: This parameter is for advanced users

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

Units
kilometers

AFS_OPTIONS: AFS options

See description for each bitmask bit description

Bitmask
Bit Meaning 0 Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) 1 Enable AFS for all autonomous modes (not just AUTO)

AFS_GCS_TIMEOUT: GCS timeout

Note: This parameter is for advanced users

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

Units
seconds

AHRS_ Parameters

AHRS_GPS_GAIN: AHRS GPS gain

Note: This parameter is for advanced users

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

Increment	Range
0.01	0.0 to 1.0

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

Note: This parameter is for advanced users

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

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

AHRS_YAW_P: Yaw P

Note: This parameter is for advanced users

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

Increment	Range
0.01	0.1 to 0.4

AHRS_RP_P: AHRS RP_P

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

Increment	Range
0.01	0.1 to 0.4

AHRS_WIND_MAX: Maximum wind

Note: This parameter is for advanced users

This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.

Increment	Range	Units
1	0 to 127	meters per second

AHRS_TRIM_X: AHRS Trim Roll

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

Increment	Range	Units
0.01	-0.1745 to +0.1745	radians

AHRS_TRIM_Y: AHRS Trim Pitch

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

Increment	Range	Units
0.01	-0.1745 to +0.1745	radians

AHRS_TRIM_Z: AHRS Trim Yaw

Note: This parameter is for advanced users

Not Used

Increment	Range	Units
0.01	-0.1745 to +0.1745	radians

AHRS_ORIENTATION: Board Orientation

Note: This parameter is for advanced users

Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Yaw45Roll180 10 Yaw90Roll180 11 Yaw135Roll180 12 Pitch180 13 Yaw225Roll180 14 Yaw270Roll180 15 Yaw315Roll180 16 Roll90 17 Yaw45Roll90 18 Yaw90Roll90 19 Yaw135Roll90 20 Roll270 21 Yaw45Roll270 22 Yaw90Roll270 23 Yaw135Roll270 24 Pitch90 25 Pitch270 26 Yaw90Pitch180 27 Yaw270Pitch180 28 Pitch90Roll90 29 Pitch90Roll180 30 Pitch90Roll270 31 Pitch180Roll90 32 Pitch180Roll270 33 Pitch270Roll90 34 Pitch270Roll180 35 Pitch270Roll270 36 Yaw90Pitch180Roll90 37 Yaw270Roll90 38 Yaw293Pitch68Roll180 39 Pitch315 40 Pitch315Roll90 42 Roll45 43 Roll315 100 Custom 4.1 and older 101 Custom 1 102 Custom 2

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient

Note: This parameter is for advanced users

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

Increment	Range
0.01	0.001 to 0.5

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 2 Enable EKF2 3 Enable EKF3 10 Sim 11 ExternalAHRS

AHRS_CUSTOM_ROLL: Board orientation roll offset

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-180 to 180	degrees

AHRS_CUSTOM_PIT: Board orientation pitch offset

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-180 to 180	degrees

AHRS_CUSTOM_YAW: Board orientation yaw offset

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-180 to 180	degrees

AHRS_OPTIONS: Optional AHRS behaviour

Note: This parameter is for advanced users

This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency

Bitmask
Bit Meaning 0 DisableDCMFallbackFW 1 DisableDCMFallbackVTOL 2 DontDisableAirspeedUsingEKF

AIS_ Parameters

AIS_TYPE: AIS receiver type

Note: Reboot required after change

AIS receiver type

Values
Value Meaning 0 None 1 NMEA AIVDM message

AIS_LIST_MAX: AIS vessel list size

Note: This parameter is for advanced users

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

Range
1 to 100

AIS_TIME_OUT: AIS vessel time out

Note: This parameter is for advanced users

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

Range	Units
1 to 2000	seconds

AIS_LOGGING: AIS logging options

Note: This parameter is for advanced users

Bitmask of AIS logging options

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

ARMING_ Parameters

ARMING_REQUIRE: Require Arming Motors

Note: This parameter is for advanced users

Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, all checks specified by ARMING_CHECKS must pass before the vehicle can be armed (for example, via rudder stick or GCS command). If 3, Arm immediately once pre-arm/arm checks are satisfied, but only one time per boot up. Note that a reboot is NOT required when setting to 0 but IS require when setting to 3.

Values
Value Meaning 0 No 1 Yes(minimum PWM when disarmed) 3 No(AutoArmOnce after checks are passed)

ARMING_ACCTHRESH: Accelerometer error threshold

Note: This parameter is for advanced users

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

Range	Units
0.25 to 3.0	meters per square second

ARMING_RUDDER: Arming with Rudder enable/disable

Note: This parameter is for advanced users

Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!

Values
Value Meaning 0 Disabled 1 ArmingOnly 2 ArmOrDisarm

ARMING_MIS_ITEMS: Required mission items

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 Land 1 VTOL Land 2 DO_LAND_START 3 Takeoff 4 VTOL Takeoff 5 Rallypoint 6 RTL

ARMING_CHECK: Arm Checks to Perform (bitmask)

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

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

ARMING_OPTIONS: Arming options

Note: This parameter is for advanced users

Options that can be applied to change arming behaviour

Bitmask
Bit Meaning 0 Disable prearm display 1 Do not send status text on state change

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

Note: This parameter is for advanced users

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

Range	Units
0 to 500	milligauss

ARMING_CRSDP_IGN: Disable CrashDump Arming check

Note: This parameter is for advanced users

Must have value "1" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details.

Values
Value Meaning 0 Crash Dump arming check active 1 Crash Dump arming check deactivated

ARMING_NEED_LOC: Require vehicle location

Note: This parameter is for advanced users

Require that the vehicle have an absolute position before it arms. This can help ensure that the vehicle can Return To Launch.

Values
Value Meaning 0 Do not require location 1 Require Location

ARSPD Parameters

ARSPD_ENABLE: Airspeed Enable

Enable airspeed sensor support

Values
Value Meaning 0 Disable 1 Enable

ARSPD_TUBE_ORDER: Control pitot tube order

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

Values
Value Meaning 0 Normal 1 Swapped 2 Auto Detect

ARSPD_PRIMARY: Primary airspeed sensor

Note: This parameter is for advanced users

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

Values
Value Meaning 0 FirstSensor 1 2ndSensor

ARSPD_OPTIONS: Airspeed options bitmask

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 SpeedMismatchDisable 1 AllowSpeedMismatchRecovery 2 DisableVoltageCorrection 3 UseEkf3Consistency 4 ReportOffset

ARSPD_WIND_MAX: Maximum airspeed and ground speed difference

Note: This parameter is for advanced users

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

Units
meters per second

ARSPD_WIND_WARN: Airspeed and GPS speed difference that gives a warning

Note: This parameter is for advanced users

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

Units
meters per second

ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size

Note: This parameter is for advanced users

This parameter and function is not used by this vehicle.

Range
0.0 to 10.0

ARSPD_OFF_PCNT: Maximum offset cal speed error

Note: This parameter is for advanced users

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

Range	Units
0.0 to 10.0	percent

ARSPD2_ Parameters

ARSPD2_TYPE: Airspeed type

Type of airspeed sensor

Values
Value Meaning 0 None 1 I2C-MS4525D0 2 Analog 3 I2C-MS5525 4 I2C-MS5525 (0x76) 5 I2C-MS5525 (0x77) 6 I2C-SDP3X 7 I2C-DLVR-5in 8 DroneCAN 9 I2C-DLVR-10in 10 I2C-DLVR-20in 11 I2C-DLVR-30in 12 I2C-DLVR-60in 13 NMEA water speed 14 MSP 15 ASP5033 16 ExternalAHRS 17 AUAV-10in 18 AUAV-5in 19 AUAV-30in 100 SITL

ARSPD2_USE: Airspeed use

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

Values
Value Meaning 0 DoNotUse 1 Use 2 UseWhenZeroThrottle

ARSPD2_OFFSET: Airspeed offset

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSPD2_RATIO: Airspeed ratio

Note: This parameter is for advanced users

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

Increment
0.1

ARSPD2_PIN: Airspeed pin

Note: This parameter is for advanced users

The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

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

Note: This parameter is for advanced users

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

ARSPD2_TUBE_ORDR: Control pitot tube order

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

Values
Value Meaning 0 Normal 1 Swapped 2 Auto Detect

ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup

Note: This parameter is for advanced users

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration or requiring a manual 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 Do not require offset calibration before flight. Manual calibration should be performed during initial setup. 2 Do not calibrate on start up. Manual calibration must be performed once per boot.

ARSPD2_PSI_RANGE: The PSI range of the device

Note: This parameter is for advanced users

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

ARSPD2_BUS: Airspeed I2C bus

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Bus0 1 Bus1 2 Bus2 3 Bus3

ARSPD2_DEVID: Airspeed ID

Note: This parameter is for advanced users

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

ReadOnly
True

ARSPD_ Parameters

ARSPD_TYPE: Airspeed type

Type of airspeed sensor

Values
Value Meaning 0 None 1 I2C-MS4525D0 2 Analog 3 I2C-MS5525 4 I2C-MS5525 (0x76) 5 I2C-MS5525 (0x77) 6 I2C-SDP3X 7 I2C-DLVR-5in 8 DroneCAN 9 I2C-DLVR-10in 10 I2C-DLVR-20in 11 I2C-DLVR-30in 12 I2C-DLVR-60in 13 NMEA water speed 14 MSP 15 ASP5033 16 ExternalAHRS 17 AUAV-10in 18 AUAV-5in 19 AUAV-30in 100 SITL

ARSPD_USE: Airspeed use

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

Values
Value Meaning 0 DoNotUse 1 Use 2 UseWhenZeroThrottle

ARSPD_OFFSET: Airspeed offset

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSPD_RATIO: Airspeed ratio

Note: This parameter is for advanced users

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

Increment
0.1

ARSPD_PIN: Airspeed pin

Note: This parameter is for advanced users

The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

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

Note: This parameter is for advanced users

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

ARSPD_TUBE_ORDR: Control pitot tube order

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

Values
Value Meaning 0 Normal 1 Swapped 2 Auto Detect

ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup

Note: This parameter is for advanced users

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration or requiring a manual 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 Do not require offset calibration before flight. Manual calibration should be performed during initial setup. 2 Do not calibrate on start up. Manual calibration must be performed once per boot.

ARSPD_PSI_RANGE: The PSI range of the device

Note: This parameter is for advanced users

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

ARSPD_BUS: Airspeed I2C bus

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Bus0 1 Bus1 2 Bus2 3 Bus3

ARSPD_DEVID: Airspeed ID

Note: This parameter is for advanced users

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

ReadOnly
True

ATC Parameters

ATC_STR_RAT_P: Steering control rate P gain

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

Increment	Range
0.001	0.000 to 2.000

ATC_STR_RAT_I: Steering control I gain

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

Increment	Range
0.001	0.000 to 2.000

ATC_STR_RAT_IMAX: Steering control I gain maximum

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

Increment	Range
0.01	0.000 to 1.000

ATC_STR_RAT_D: Steering control D gain

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

Increment	Range
0.001	0.000 to 0.400

ATC_STR_RAT_FF: Steering control feed forward

Steering control feed forward

Increment	Range
0.001	0.000 to 3.000

ATC_STR_RAT_FILT: Steering control filter frequency

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

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_STR_RAT_FLTT: Steering control Target filter frequency in Hz

Target filter frequency in Hz

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_STR_RAT_FLTE: Steering control Error filter frequency in Hz

Error filter frequency in Hz

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_STR_RAT_FLTD: Steering control Derivative term filter frequency in Hz

Derivative filter frequency in Hz

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_STR_RAT_SMAX: Steering slew rate limit

Note: This parameter is for advanced users

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

Increment	Range
0.5	0 to 200

ATC_STR_RAT_PDMX: Steering control PD sum maximum

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

Increment	Range
0.01	0.000 to 1.000

ATC_STR_RAT_D_FF: Steering control Derivative FeedForward Gain

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Increment	Range
0.001	0 to 0.03

ATC_STR_RAT_NTF: Steering control Target notch filter index

Note: This parameter is for advanced users

Steering control Target notch filter index

Range
1 to 8

ATC_STR_RAT_NEF: Steering control Error notch filter index

Note: This parameter is for advanced users

Steering control Error notch filter index

Range
1 to 8

ATC_SPEED_P: Speed control P gain

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

Increment	Range
0.01	0.010 to 2.000

ATC_SPEED_I: Speed control I gain

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

Increment	Range
0.01	0.000 to 2.000

ATC_SPEED_IMAX: Speed control I gain maximum

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

Increment	Range
0.01	0.000 to 1.000

ATC_SPEED_D: Speed control D gain

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

Increment	Range
0.001	0.000 to 0.400

ATC_SPEED_FF: Speed control feed forward

Speed control feed forward

Increment	Range
0.001	0.000 to 0.500

ATC_SPEED_FILT: Speed control filter frequency

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

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_SPEED_FLTT: Speed control Target filter frequency in Hz

Target filter frequency in Hz

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_SPEED_FLTE: Speed control Error filter frequency in Hz

Error filter frequency in Hz

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_SPEED_FLTD: Speed control Derivative term filter frequency in Hz

Derivative filter frequency in Hz

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_SPEED_SMAX: Speed control slew rate limit

Note: This parameter is for advanced users

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

Increment	Range
0.5	0 to 200

ATC_SPEED_PDMX: Speed control PD sum maximum

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

Increment	Range
0.01	0.000 to 1.000

ATC_SPEED_D_FF: Speed control Derivative FeedForward Gain

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Increment	Range
0.001	0 to 0.03

ATC_SPEED_NTF: Speed control Target notch filter index

Note: This parameter is for advanced users

Speed control Target notch filter index

Range
1 to 8

ATC_SPEED_NEF: Speed control Error notch filter index

Note: This parameter is for advanced users

Speed control Error notch filter index

Range
1 to 8

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

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

Increment	Range	Units
0.1	0.0 to 10.0	meters per square second

ATC_BRAKE: Speed control brake enable/disable

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

Values
Value Meaning 0 Disable 1 Enable

ATC_STOP_SPEED: Speed control stop speed

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

Increment	Range	Units
0.01	0.00 to 0.50	meters per second

ATC_STR_ANG_P: Steering control angle P gain

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

Increment	Range
0.1	1.000 to 10.000

ATC_STR_ACC_MAX: Steering control angular acceleration maximum

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

Increment	Range	Units
0.1	0 to 1000	degrees per square second

ATC_STR_RAT_MAX: Steering control rotation rate maximum

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

Increment	Range	Units
0.1	0 to 1000	degrees per second

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

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

Increment	Range	Units
0.1	0.0 to 10.0	meters per square second

ATC_BAL_P: Pitch control P gain

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

Increment	Range
0.01	0.000 to 2.000

ATC_BAL_I: Pitch control I gain

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

Increment	Range
0.01	0.000 to 2.000

ATC_BAL_IMAX: Pitch control I gain maximum

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

Increment	Range
0.01	0.000 to 1.000

ATC_BAL_D: Pitch control D gain

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

Increment	Range
0.001	0.000 to 0.100

ATC_BAL_FF: Pitch control feed forward

Pitch control feed forward

Increment	Range
0.001	0.000 to 0.500

ATC_BAL_FILT: Pitch control filter frequency

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

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_BAL_FLTT: Pitch control Target filter frequency in Hz

Pitch control Target filter frequency in Hz

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_BAL_FLTE: Pitch control Error filter frequency in Hz

Pitch control Error filter frequency in Hz

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_BAL_FLTD: Pitch control Derivative term filter frequency in Hz

Pitch control Derivative filter frequency in Hz

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_BAL_SMAX: Pitch control slew rate limit

Note: This parameter is for advanced users

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

Increment	Range
0.5	0 to 200

ATC_BAL_PDMX: Pitch control PD sum maximum

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

Increment	Range
0.01	0.000 to 1.000

ATC_BAL_D_FF: Pitch control Derivative FeedForward Gain

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Increment	Range
0.001	0 to 0.03

ATC_BAL_NTF: Pitch control Target notch filter index

Note: This parameter is for advanced users

Pitch control Target notch filter index

Range
1 to 8

ATC_BAL_NEF: Pitch control Error notch filter index

Note: This parameter is for advanced users

Pitch control Error notch filter index

Range
1 to 8

ATC_BAL_PIT_FF: Pitch control feed forward from current pitch angle

Pitch control feed forward from current pitch angle

Increment	Range
0.01	0.0 to 1.0

ATC_SAIL_P: Sail Heel control P gain

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

Increment	Range
0.01	0.000 to 2.000

ATC_SAIL_I: Sail Heel control I gain

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

Increment	Range
0.01	0.000 to 2.000

ATC_SAIL_IMAX: Sail Heel control I gain maximum

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

Increment	Range
0.01	0.000 to 1.000

ATC_SAIL_D: Sail Heel control D gain

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

Increment	Range
0.001	0.000 to 0.100

ATC_SAIL_FF: Sail Heel control feed forward

Sail Heel control feed forward

Increment	Range
0.001	0.000 to 0.500

ATC_SAIL_FILT: Sail Heel control filter frequency

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

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_SAIL_FLTT: Sail Heel Target filter frequency in Hz

Target filter frequency in Hz

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_SAIL_FLTE: Sail Heel Error filter frequency in Hz

Error filter frequency in Hz

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_SAIL_FLTD: Sail Heel Derivative term filter frequency in Hz

Derivative filter frequency in Hz

Increment	Range	Units
0.1	0.000 to 100.000	hertz

ATC_SAIL_SMAX: Sail heel slew rate limit

Note: This parameter is for advanced users

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

Increment	Range
0.5	0 to 200

ATC_SAIL_PDMX: Sail Heel control PD sum maximum

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

Increment	Range
0.01	0.000 to 1.000

ATC_SAIL_D_FF: Sail Heel Derivative FeedForward Gain

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Increment	Range
0.001	0 to 0.03

ATC_SAIL_NTF: Sail Heel Target notch filter index

Note: This parameter is for advanced users

Sail Heel Target notch filter index

Range
1 to 8

ATC_SAIL_NEF: Sail Heel Error notch filter index

Note: This parameter is for advanced users

Sail Heel Error notch filter index

Range
1 to 8

ATC_TURN_MAX_G: Turning maximum G force

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

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

ATC_BAL_LIM_TC: Pitch control limit time constant

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

Increment	Range
0.01	0.0 to 5.0

ATC_BAL_LIM_THR: Pitch control limit throttle threshold

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

Increment	Range
0.01	0.0 to 1.0

ATC_STR_DEC_MAX: Steering control angular deceleration maximum

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

Increment	Range	Units
0.1	0 to 1000	degrees per square second

AVOID_ Parameters

AVOID_ENABLE: Avoidance control enable/disable

Enabled/disable avoidance input sources

Bitmask
Bit Meaning 0 UseFence 1 UseProximitySensor 2 UseBeaconFence

AVOID_MARGIN: Avoidance distance margin in GPS modes

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

Range	Units
1 to 10	meters

AVOID_BEHAVE: Avoidance behaviour

Avoidance behaviour (slide or stop)

Values
Value Meaning 0 Slide 1 Stop

AVOID_BACKUP_SPD: Avoidance maximum horizontal backup speed

Maximum speed that will be used to back away from obstacles horizontally in position control modes (m/s). Set zero to disable horizontal backup.

Range	Units
0 to 2	meters per second

AVOID_ACCEL_MAX: Avoidance maximum acceleration

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

Range	Units
0 to 9	meters per square second

AVOID_BACKUP_DZ: Avoidance deadzone between stopping and backing away from obstacle

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

Range	Units
0 to 2	meters

AVOID_BACKZ_SPD: Avoidance maximum vertical backup speed

Maximum speed that will be used to back away from obstacles vertically in height control modes (m/s). Set zero to disable vertical backup.

Range	Units
0 to 2	meters per second

BARO Parameters

BARO1_GND_PRESS: Ground Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO_GND_TEMP: ground temperature

Note: This parameter is for advanced users

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

Increment	Units	Volatile
1	degrees Celsius	True

BARO_ALT_OFFSET: altitude offset

Note: This parameter is for advanced users

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

Increment	Units
0.1	meters

BARO_PRIMARY: Primary barometer

Note: This parameter is for advanced users

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

Values
Value Meaning 0 FirstBaro 1 2ndBaro 2 3rdBaro

BARO_EXT_BUS: External baro bus

Note: This parameter is for advanced users

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

Values
Value Meaning -1 Disabled 0 Bus0 1 Bus1 6 Bus6

BARO2_GND_PRESS: Ground Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO3_GND_PRESS: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO_FLTR_RNG: Range in which sample is accepted

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

Increment	Range	Units
1	0 to 100	percent

BARO_PROBE_EXT: External barometers to probe

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 BMP085 1 BMP280 2 MS5611 3 MS5607 4 MS5637 5 FBM320 6 DPS280 7 LPS25H 8 Keller 9 MS5837 10 BMP388 11 SPL06 12 MSP 13 BMP581 14 AUAV

BARO1_DEVID: Baro ID

Note: This parameter is for advanced users

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

ReadOnly
True

BARO2_DEVID: Baro ID2

Note: This parameter is for advanced users

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

ReadOnly
True

BARO3_DEVID: Baro ID3

Note: This parameter is for advanced users

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

ReadOnly
True

BARO_FIELD_ELV: field elevation

Note: This parameter is for advanced users

User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.

Increment	Units	Volatile
0.1	meters	True

BARO_ALTERR_MAX: Altitude error maximum

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 5000	meters

BARO_OPTIONS: Barometer options

Note: This parameter is for advanced users

Barometer options

Bitmask
Bit Meaning 0 Treat MS5611 as MS5607

BARO1_THST_SCALE: Thrust compensation

Note: This parameter is for advanced users

Thrust scaling in Pascals. This value scaled by the normalized thrust is subtracted from the barometer pressure. This is used to adjust linearly based on the thrust output for local pressure difference induced by the props.

Range
-300 to 300

BARO1_WCF_ Parameters

BARO1_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values
Value Meaning 0 Disabled 1 Enabled

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO2_WCF_ Parameters

BARO2_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values
Value Meaning 0 Disabled 1 Enabled

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO3_WCF_ Parameters

BARO3_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values
Value Meaning 0 Disabled 1 Enabled

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BATT2_ Parameters

BATT2_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATT2_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT2_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT2_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT2_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT2_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT2_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT2_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT2_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT2_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 RTL 2 Hold 3 SmartRTL 4 SmartRTL or Hold 5 Terminate 6 Loiter or Hold

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 6 Loiter or Hold

BATT2_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT2_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT2_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT2_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATT2_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT2_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATT2_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATT2_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT2_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT2_SUM_MASK: Battery Sum mask

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

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

BATT2_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATT2_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATT2_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATT2_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATT2_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT2_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT2_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT2_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT2_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT2_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT2_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT2_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATT2_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT2_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATT2_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT2_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT2_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT2_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT2_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT2_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT2_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT2_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT2_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT2_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT2_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ Parameters

BATT3_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATT3_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT3_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT3_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT3_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT3_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT3_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT3_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT3_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT3_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 RTL 2 Hold 3 SmartRTL 4 SmartRTL or Hold 5 Terminate 6 Loiter or Hold

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 6 Loiter or Hold

BATT3_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT3_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT3_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT3_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATT3_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT3_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATT3_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATT3_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT3_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT3_SUM_MASK: Battery Sum mask

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

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

BATT3_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATT3_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATT3_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATT3_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATT3_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT3_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT3_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT3_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT3_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT3_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT3_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT3_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATT3_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT3_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATT3_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT3_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT3_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT3_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT3_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT3_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT3_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT3_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT3_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT3_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT3_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ Parameters

BATT4_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATT4_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT4_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT4_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT4_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT4_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT4_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT4_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT4_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT4_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 RTL 2 Hold 3 SmartRTL 4 SmartRTL or Hold 5 Terminate 6 Loiter or Hold

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 6 Loiter or Hold

BATT4_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT4_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT4_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT4_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATT4_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT4_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATT4_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATT4_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT4_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT4_SUM_MASK: Battery Sum mask

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

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

BATT4_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATT4_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATT4_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATT4_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATT4_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT4_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT4_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT4_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT4_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT4_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT4_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT4_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATT4_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT4_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATT4_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT4_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT4_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT4_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT4_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT4_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT4_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT4_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT4_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT4_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT4_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ Parameters

BATT5_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATT5_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT5_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT5_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT5_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT5_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT5_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT5_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT5_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT5_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 RTL 2 Hold 3 SmartRTL 4 SmartRTL or Hold 5 Terminate 6 Loiter or Hold

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 6 Loiter or Hold

BATT5_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT5_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT5_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT5_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATT5_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT5_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATT5_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATT5_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT5_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT5_SUM_MASK: Battery Sum mask

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

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

BATT5_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATT5_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATT5_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATT5_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATT5_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT5_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT5_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT5_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT5_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT5_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT5_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT5_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATT5_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT5_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATT5_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT5_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT5_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT5_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT5_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT5_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT5_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT5_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT5_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT5_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT5_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ Parameters

BATT6_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATT6_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT6_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT6_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT6_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT6_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT6_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT6_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT6_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT6_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 RTL 2 Hold 3 SmartRTL 4 SmartRTL or Hold 5 Terminate 6 Loiter or Hold

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 6 Loiter or Hold

BATT6_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT6_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT6_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT6_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATT6_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT6_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATT6_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATT6_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT6_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT6_SUM_MASK: Battery Sum mask

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

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

BATT6_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATT6_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATT6_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATT6_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATT6_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT6_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT6_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT6_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT6_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT6_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT6_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT6_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATT6_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT6_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATT6_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT6_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT6_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT6_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT6_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT6_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT6_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT6_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT6_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT6_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT6_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ Parameters

BATT7_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATT7_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT7_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT7_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT7_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT7_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT7_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT7_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT7_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT7_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 RTL 2 Hold 3 SmartRTL 4 SmartRTL or Hold 5 Terminate 6 Loiter or Hold

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 6 Loiter or Hold

BATT7_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT7_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT7_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT7_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATT7_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT7_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATT7_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATT7_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT7_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT7_SUM_MASK: Battery Sum mask

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

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

BATT7_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATT7_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATT7_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATT7_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATT7_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT7_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT7_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT7_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT7_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT7_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT7_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT7_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATT7_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT7_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATT7_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT7_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT7_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT7_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT7_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT7_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT7_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT7_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT7_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT7_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT7_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ Parameters

BATT8_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATT8_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT8_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT8_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT8_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT8_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT8_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT8_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT8_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT8_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 RTL 2 Hold 3 SmartRTL 4 SmartRTL or Hold 5 Terminate 6 Loiter or Hold

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 6 Loiter or Hold

BATT8_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT8_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT8_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT8_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATT8_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT8_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATT8_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATT8_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT8_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT8_SUM_MASK: Battery Sum mask

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

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

BATT8_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATT8_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATT8_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATT8_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATT8_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT8_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT8_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT8_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT8_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT8_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT8_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT8_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATT8_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT8_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATT8_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT8_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT8_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT8_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT8_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT8_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT8_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT8_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT8_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT8_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT8_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ Parameters

BATT9_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATT9_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT9_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT9_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT9_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 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 6 Loiter or Hold

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 6 Loiter or Hold

BATT9_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT9_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT9_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT9_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATT9_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT9_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATT9_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATT9_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT9_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT9_SUM_MASK: Battery Sum mask

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

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

BATT9_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATT9_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATT9_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATT9_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATT9_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT9_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT9_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT9_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT9_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT9_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT9_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT9_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATT9_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT9_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATT9_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT9_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT9_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT9_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT9_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT9_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT9_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT9_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT9_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT9_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT9_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTA_ Parameters

BATTA_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATTA_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTA_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATTA_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATTA_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

BATTA_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 BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTA_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 BATTA_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTA_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 BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTA_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 BATTA_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTA_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 6 Loiter or Hold

BATTA_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 6 Loiter or Hold

BATTA_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

BATTA_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 BATTA_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTA_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTA_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATTA_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTA_CURR_PIN (AP_BattMonitor_Analog): 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

BATTA_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTA_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.

BATTA_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTA_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATTA_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATTA_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTA_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTA_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

BATTA_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATTA_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATTA_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATTA_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATTA_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTA_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTA_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTA_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTA_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTA_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTA_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTA_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTA_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATTA_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTA_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATTA_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTA_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTA_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTA_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTA_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTA_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTA_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTA_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTA_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTA_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTA_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTB_ Parameters

BATTB_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATTB_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTB_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATTB_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATTB_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

BATTB_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 BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTB_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 BATTB_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTB_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 BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTB_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 BATTB_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTB_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 6 Loiter or Hold

BATTB_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 6 Loiter or Hold

BATTB_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

BATTB_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 BATTB_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTB_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTB_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATTB_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTB_CURR_PIN (AP_BattMonitor_Analog): 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

BATTB_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTB_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.

BATTB_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTB_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATTB_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATTB_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTB_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTB_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

BATTB_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATTB_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATTB_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATTB_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATTB_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTB_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTB_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTB_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTB_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTB_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTB_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTB_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTB_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATTB_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTB_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATTB_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTB_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTB_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTB_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTB_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTB_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTB_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTB_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTB_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTB_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTB_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTC_ Parameters

BATTC_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATTC_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTC_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATTC_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATTC_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

BATTC_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 BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTC_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 BATTC_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTC_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 BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTC_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 BATTC_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTC_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 6 Loiter or Hold

BATTC_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 6 Loiter or Hold

BATTC_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

BATTC_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 BATTC_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTC_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTC_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATTC_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTC_CURR_PIN (AP_BattMonitor_Analog): 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

BATTC_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTC_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.

BATTC_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTC_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATTC_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATTC_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTC_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTC_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

BATTC_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATTC_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATTC_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATTC_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATTC_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTC_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTC_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTC_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTC_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTC_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTC_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTC_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTC_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATTC_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTC_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATTC_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTC_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTC_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTC_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTC_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTC_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTC_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTC_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTC_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTC_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTC_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTD_ Parameters

BATTD_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATTD_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTD_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATTD_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATTD_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

BATTD_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 BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTD_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 BATTD_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTD_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 BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTD_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 BATTD_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTD_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 6 Loiter or Hold

BATTD_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 6 Loiter or Hold

BATTD_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

BATTD_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 BATTD_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTD_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTD_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATTD_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTD_CURR_PIN (AP_BattMonitor_Analog): 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

BATTD_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTD_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.

BATTD_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTD_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATTD_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATTD_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTD_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTD_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

BATTD_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATTD_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATTD_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATTD_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATTD_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTD_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTD_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTD_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTD_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTD_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTD_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTD_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTD_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATTD_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTD_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATTD_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTD_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTD_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTD_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTD_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTD_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTD_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTD_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTD_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTD_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTD_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTE_ Parameters

BATTE_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATTE_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTE_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATTE_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATTE_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

BATTE_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 BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTE_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 BATTE_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTE_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 BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTE_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 BATTE_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTE_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 6 Loiter or Hold

BATTE_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 6 Loiter or Hold

BATTE_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

BATTE_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 BATTE_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTE_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTE_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATTE_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTE_CURR_PIN (AP_BattMonitor_Analog): 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

BATTE_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTE_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.

BATTE_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTE_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATTE_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATTE_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTE_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTE_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

BATTE_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATTE_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATTE_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATTE_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATTE_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTE_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTE_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTE_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTE_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTE_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTE_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTE_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTE_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATTE_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTE_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATTE_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTE_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTE_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTE_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTE_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTE_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTE_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTE_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTE_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTE_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTE_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTF_ Parameters

BATTF_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATTF_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTF_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATTF_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATTF_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

BATTF_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 BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTF_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 BATTF_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTF_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 BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTF_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 BATTF_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTF_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 6 Loiter or Hold

BATTF_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 6 Loiter or Hold

BATTF_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

BATTF_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 BATTF_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTF_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTF_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATTF_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTF_CURR_PIN (AP_BattMonitor_Analog): 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

BATTF_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTF_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.

BATTF_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTF_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATTF_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATTF_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTF_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTF_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

BATTF_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATTF_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATTF_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATTF_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATTF_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTF_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTF_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTF_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTF_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTF_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTF_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTF_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTF_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATTF_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTF_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATTF_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTF_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTF_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTF_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTF_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTF_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTF_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTF_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTF_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTF_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTF_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTG_ Parameters

BATTG_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATTG_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTG_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATTG_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATTG_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

BATTG_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 BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTG_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 BATTG_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTG_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 BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTG_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 BATTG_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTG_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 6 Loiter or Hold

BATTG_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 6 Loiter or Hold

BATTG_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

BATTG_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 BATTG_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTG_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTG_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATTG_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTG_CURR_PIN (AP_BattMonitor_Analog): 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

BATTG_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTG_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.

BATTG_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTG_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATTG_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATTG_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTG_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTG_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

BATTG_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATTG_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATTG_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATTG_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATTG_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTG_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTG_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTG_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTG_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTG_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTG_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTG_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTG_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATTG_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTG_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATTG_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTG_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTG_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTG_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATTG_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTG_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTG_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTG_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTG_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTG_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTG_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ Parameters

BATT_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI 28 AD7091R5 29 Scripting 30 INA3221

BATT_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 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 6 Loiter or Hold

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 6 Loiter or Hold

BATT_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

BATT_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset

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

Units
volt

BATT_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset

Note: This parameter is for advanced users

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

Units
volt

BATT_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT_SUM_MASK: Battery Sum mask

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

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

BATT_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
0.1 to 10

BATT_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range	Units
0.01 to 10	volt

BATT_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range
0.01 to 10

BATT_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
-1 to 1	hertz

BATT_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

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

Range	Units
1 to 400	ampere

BATT_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

BATT_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 127

BATT_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

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 to 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 to 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 to 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 to +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 3 RS-485 Driver enable RTS pin

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 3 RS-485 Driver enable RTS pin

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 3 RS-485 Driver enable RTS pin

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 3 RS-485 Driver enable RTS pin

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 3 RS-485 Driver enable RTS pin

BRD_SER6_RTSCTS: Serial 6 flow control

Note: This parameter is for advanced users

Note: Reboot required after change

Enable flow control on serial 6. 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 3 RS-485 Driver enable RTS pin

BRD_SER7_RTSCTS: Serial 7 flow control

Note: This parameter is for advanced users

Note: Reboot required after change

Enable flow control on serial 7. 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 3 RS-485 Driver enable RTS pin

BRD_SER8_RTSCTS: Serial 8 flow control

Enable flow control on serial 8. 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.

BRD_SAFETY_DEFLT: Sets default state of the safety 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
-8388608 to 8388607

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 14 Output15 15 Output16 16 Output17 17 Output18 18 Output19 19 Output20 20 Output21 21 Output22 22 Output23 23 Output24 24 Output25 25 Output26 26 Output27 27 Output28 28 Output29 29 Output30 30 Output31 31 Output32

BRD_HEAT_TARG: Board heater temperature target

Note: This parameter is for advanced users

Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.

Range	Units
-1 to 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 5 PixhawkMini 6 Pixhawk2Slim 13 Intel Aero FC 14 Pixhawk Pro 20 AUAV2.1 22 MINDPXV2 24 CUAVv5/FMUV5 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 boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup

Values
Value Meaning 0 Disabled 1 Enabled 2 EnableNoFWUpdate

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 ActiveForSafetyDisable 1 ActiveForSafetyEnable 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 to 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 to 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 to 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. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.

Values
Value Meaning 0 3.3V 1 5V

BRD_OPTIONS: Board options

Note: This parameter is for advanced users

Board specific option flags

Bitmask
Bit Meaning 0 Enable hardware watchdog 1 Disable MAVftp 2 Enable set of internal parameters 3 Enable Debug Pins 4 Unlock flash on reboot 5 Write protect firmware flash on reboot 6 Write protect bootloader flash on reboot 7 Skip board validation 8 Disable board arming gpio output change on arm/disarm 9 Use safety pins as profiled

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 to 10000	milliseconds

BRD_HEAT_P: Board Heater P gain

Note: This parameter is for advanced users

Board Heater P gain

Increment	Range
1	1 to 500

BRD_HEAT_I: Board Heater I gain

Note: This parameter is for advanced users

Board Heater integrator gain

Increment	Range
0.1	0 to 1

BRD_HEAT_IMAX: Board Heater IMAX

Note: This parameter is for advanced users

Board Heater integrator maximum

Increment	Range
1	0 to 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 to 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 to 20	degrees Celsius

BRD_SD_MISSION: SDCard Mission size

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.

Range
0 to 64

BRD_SD_FENCE: SDCard Fence size

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage.

Range
0 to 64

BRD_IO_DSHOT: Load DShot FW on IO

Note: This parameter is for advanced users

Note: Reboot required after change

This loads the DShot firmware on the IO co-processor

Values
Value Meaning 0 StandardFW 1 DshotFW

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 to 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 to 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 to 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 to 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 to 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 to 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 to 8

BRD_RADIO_BZOFS: Transmitter buzzer adjustment

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

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

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

BTN_PIN2: Second button Pin

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

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

BTN_PIN3: Third button Pin

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

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

BTN_PIN4: Fourth button Pin

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

Values
Value Meaning -1 Disabled 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 to 3600

BTN_OPTIONS1: Button Pin 1 Options

Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. 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. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. 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. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. 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. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

Bitmask
Bit Meaning 0 PWM Input 1 InvertInput

BTN_FUNC1: Button Pin 1 RC Channel function

Auxiliary RC Options function executed on pin change

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

BTN_FUNC2: Button Pin 2 RC Channel function

Auxiliary RC Options function executed on pin change

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

BTN_FUNC3: Button Pin 3 RC Channel function

Auxiliary RC Options function executed on pin change

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

BTN_FUNC4: Button Pin 4 RC Channel function

Auxiliary RC Options function executed on pin change

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

CAM Parameters

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 to 180	degrees

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

CAM1 Parameters

CAM1_TYPE: Camera shutter (trigger) type

how to trigger the camera to take a picture

Values
Value Meaning 0 None 1 Servo 2 Relay 3 GoPro in Solo Gimbal 4 Mount (Siyi/Topotek/Viewpro/Xacti) 5 MAVLink 6 MAVLinkCamV2 7 Scripting 8 RunCam

CAM1_DURATION: Camera shutter duration held open

Duration in seconds that the camera shutter is held open

Range	Units
0 to 5	seconds

CAM1_SERVO_ON: Camera servo ON PWM value

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

Range	Units
1000 to 2000	PWM in microseconds

CAM1_SERVO_OFF: Camera servo OFF PWM value

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

Range	Units
1000 to 2000	PWM in microseconds

CAM1_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 to 1000	meters

CAM1_RELAY_ON: Camera 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

CAM1_INTRVAL_MIN: Camera minimum time interval between photos

Postpone shooting if previous picture was taken less than this many seconds ago

Range	Units
0 to 10	seconds

CAM1_FEEDBAK_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. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.

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

CAM1_FEEDBAK_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

CAM1_OPTIONS: Camera options

Camera options bitmask

Bitmask
Bit Meaning 0 Recording Starts at arming and stops at disarming

CAM1_MNT_INST: Camera Mount instance

Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1

CAM1_HFOV: Camera horizontal field of view

Camera horizontal field of view. 0 if unknown

Range	Units
0 to 360	degrees

CAM1_VFOV: Camera vertical field of view

Camera vertical field of view. 0 if unknown

Range	Units
0 to 180	degrees

CAM1_RC_ Parameters

CAM1_RC_TYPE: RunCam device type

RunCam device 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/RunCam Thumb Pro 5 Runcam 2 4k

CAM1_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

CAM1_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.

CAM1_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.

CAM1_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.

CAM1_RC_CONTROL: RunCam control option

Note: This parameter is for advanced users

Specifies the allowed actions required to enter the OSD menu and other option like autorecording

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

CAM2 Parameters

CAM2_TYPE: Camera shutter (trigger) type

how to trigger the camera to take a picture

Values
Value Meaning 0 None 1 Servo 2 Relay 3 GoPro in Solo Gimbal 4 Mount (Siyi/Topotek/Viewpro/Xacti) 5 MAVLink 6 MAVLinkCamV2 7 Scripting 8 RunCam

CAM2_DURATION: Camera shutter duration held open

Duration in seconds that the camera shutter is held open

Range	Units
0 to 5	seconds

CAM2_SERVO_ON: Camera servo ON PWM value

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

Range	Units
1000 to 2000	PWM in microseconds

CAM2_SERVO_OFF: Camera servo OFF PWM value

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

Range	Units
1000 to 2000	PWM in microseconds

CAM2_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 to 1000	meters

CAM2_RELAY_ON: Camera 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

CAM2_INTRVAL_MIN: Camera minimum time interval between photos

Postpone shooting if previous picture was taken less than this many seconds ago

Range	Units
0 to 10	seconds

CAM2_FEEDBAK_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. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.

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

CAM2_FEEDBAK_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

CAM2_OPTIONS: Camera options

Camera options bitmask

Bitmask
Bit Meaning 0 Recording Starts at arming and stops at disarming

CAM2_MNT_INST: Camera Mount instance

Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1

CAM2_HFOV: Camera horizontal field of view

Camera horizontal field of view. 0 if unknown

Range	Units
0 to 360	degrees

CAM2_VFOV: Camera vertical field of view

Camera vertical field of view. 0 if unknown

Range	Units
0 to 180	degrees

CAM2_RC_ Parameters

CAM2_RC_TYPE: RunCam device type

RunCam device 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/RunCam Thumb Pro 5 Runcam 2 4k

CAM2_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

CAM2_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.

CAM2_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.

CAM2_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.

CAM2_RC_CONTROL: RunCam control option

Note: This parameter is for advanced users

Specifies the allowed actions required to enter the OSD menu and other option like autorecording

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

CAN_D1_ Parameters

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 DroneCAN 4 PiccoloCAN 6 EFI_NWPMU 7 USD1 8 KDECAN 10 Scripting 11 Benewake 12 Scripting2 13 TOFSenseP 14 RadarCAN (NanoRadar/Hexsoon)

CAN_D1_PROTOCOL2: Secondary protocol with 11 bit CAN addressing

Note: This parameter is for advanced users

Note: Reboot required after change

Secondary protocol with 11 bit CAN addressing

Values
Value Meaning 0 Disabled 7 USD1 10 Scripting 11 Benewake 12 Scripting2 13 TOFSenseP 14 RadarCAN (NanoRadar/Hexsoon)

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D1_PC_ESC_RT: ESC output rate

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 to 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 to 500	hertz

CAN_D1_PC_ECU_ID: ECU Node ID

Note: This parameter is for advanced users

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

Range
0 to 255

CAN_D1_PC_ECU_RT: ECU command output rate

Note: This parameter is for advanced users

Output rate of ECU command messages

Range	Units
1 to 500	hertz

CAN_D1_UC_ Parameters

CAN_D1_UC_NODE: Own node ID

Note: This parameter is for advanced users

DroneCAN node ID used by the driver itself on this network

Range
1 to 125

CAN_D1_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN

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

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 16 Servo 17 17 Servo 18 18 Servo 19 19 Servo 20 20 Servo 21 21 Servo 22 22 Servo 23 23 Servo 24 24 Servo 25 25 Servo 26 26 Servo 27 27 Servo 28 28 Servo 29 29 Servo 30 30 Servo 31 31 Servo 32

CAN_D1_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN

Note: This parameter is for advanced users

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

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D1_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 to 200	hertz

CAN_D1_UC_OPTION: DroneCAN options

Note: This parameter is for advanced users

Option flags

Bitmask
Bit Meaning 0 ClearDNADatabase 1 IgnoreDNANodeConflicts 2 EnableCanfd 3 IgnoreDNANodeUnhealthy 4 SendServoAsPWM 5 SendGNSS 6 UseHimarkServo 7 HobbyWingESC 8 EnableStats 9 EnableFlexDebug

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 to 200	hertz

CAN_D1_UC_ESC_OF: ESC Output channels offset

Note: This parameter is for advanced users

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

Range
0 to 18

CAN_D1_UC_POOL: CAN pool size

Note: This parameter is for advanced users

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

Range
1024 to 16384

CAN_D1_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN.

Note: This parameter is for advanced users

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D1_UC_RLY_RT: DroneCAN relay output rate

Note: This parameter is for advanced users

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

Range	Units
0 to 200	hertz

CAN_D1_UC_SER_EN: DroneCAN Serial enable

Note: This parameter is for advanced users

Note: Reboot required after change

Enable DroneCAN virtual serial ports

Values
Value Meaning 0 Disabled 1 Enabled

CAN_D1_UC_S1_NOD: Serial CAN remote node number

Note: This parameter is for advanced users

Note: Reboot required after change

CAN remote node number for serial port

Range
0 to 127

CAN_D1_UC_S1_IDX: DroneCAN Serial1 index

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range	Values
0 to 100	Value Meaning -1 Disabled 0 Serial0 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6

CAN_D1_UC_S1_BD: DroneCAN Serial default baud rate

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

CAN_D1_UC_S1_PRO: Serial protocol of DroneCAN serial port

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

CAN_D1_UC_S2_NOD: Serial CAN remote node number

Note: This parameter is for advanced users

Note: Reboot required after change

CAN remote node number for serial port

Range
0 to 127

CAN_D1_UC_S2_IDX: Serial port number on remote CAN node

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range	Values
0 to 100	Value Meaning -1 Disabled 0 Serial0 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6

CAN_D1_UC_S2_BD: DroneCAN Serial default baud rate

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

CAN_D1_UC_S2_PRO: Serial protocol of DroneCAN serial port

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

CAN_D1_UC_S3_NOD: Serial CAN remote node number

Note: This parameter is for advanced users

Note: Reboot required after change

CAN node number for serial port

Range
0 to 127

CAN_D1_UC_S3_IDX: Serial port number on remote CAN node

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range	Values
0 to 100	Value Meaning -1 Disabled 0 Serial0 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6

CAN_D1_UC_S3_BD: Serial baud rate on remote CAN node

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

CAN_D1_UC_S3_PRO: Serial protocol of DroneCAN serial port

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

CAN_D2_ Parameters

CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 DroneCAN 4 PiccoloCAN 6 EFI_NWPMU 7 USD1 8 KDECAN 10 Scripting 11 Benewake 12 Scripting2 13 TOFSenseP 14 RadarCAN (NanoRadar/Hexsoon)

CAN_D2_PROTOCOL2: Secondary protocol with 11 bit CAN addressing

Note: This parameter is for advanced users

Note: Reboot required after change

Secondary protocol with 11 bit CAN addressing

Values
Value Meaning 0 Disabled 7 USD1 10 Scripting 11 Benewake 12 Scripting2 13 TOFSenseP 14 RadarCAN (NanoRadar/Hexsoon)

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D2_PC_ESC_RT: ESC output rate

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 to 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 to 500	hertz

CAN_D2_PC_ECU_ID: ECU Node ID

Note: This parameter is for advanced users

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

Range
0 to 255

CAN_D2_PC_ECU_RT: ECU command output rate

Note: This parameter is for advanced users

Output rate of ECU command messages

Range	Units
1 to 500	hertz

CAN_D2_UC_ Parameters

CAN_D2_UC_NODE: Own node ID

Note: This parameter is for advanced users

DroneCAN node ID used by the driver itself on this network

Range
1 to 125

CAN_D2_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN

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

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 16 Servo 17 17 Servo 18 18 Servo 19 19 Servo 20 20 Servo 21 21 Servo 22 22 Servo 23 23 Servo 24 24 Servo 25 25 Servo 26 26 Servo 27 27 Servo 28 28 Servo 29 29 Servo 30 30 Servo 31 31 Servo 32

CAN_D2_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN

Note: This parameter is for advanced users

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

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D2_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 to 200	hertz

CAN_D2_UC_OPTION: DroneCAN options

Note: This parameter is for advanced users

Option flags

Bitmask
Bit Meaning 0 ClearDNADatabase 1 IgnoreDNANodeConflicts 2 EnableCanfd 3 IgnoreDNANodeUnhealthy 4 SendServoAsPWM 5 SendGNSS 6 UseHimarkServo 7 HobbyWingESC 8 EnableStats 9 EnableFlexDebug

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 to 200	hertz

CAN_D2_UC_ESC_OF: ESC Output channels offset

Note: This parameter is for advanced users

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

Range
0 to 18

CAN_D2_UC_POOL: CAN pool size

Note: This parameter is for advanced users

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

Range
1024 to 16384

CAN_D2_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN.

Note: This parameter is for advanced users

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D2_UC_RLY_RT: DroneCAN relay output rate

Note: This parameter is for advanced users

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

Range	Units
0 to 200	hertz

CAN_D2_UC_SER_EN: DroneCAN Serial enable

Note: This parameter is for advanced users

Note: Reboot required after change

Enable DroneCAN virtual serial ports

Values
Value Meaning 0 Disabled 1 Enabled

CAN_D2_UC_S1_NOD: Serial CAN remote node number

Note: This parameter is for advanced users

Note: Reboot required after change

CAN remote node number for serial port

Range
0 to 127

CAN_D2_UC_S1_IDX: DroneCAN Serial1 index

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range	Values
0 to 100	Value Meaning -1 Disabled 0 Serial0 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6

CAN_D2_UC_S1_BD: DroneCAN Serial default baud rate

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

CAN_D2_UC_S1_PRO: Serial protocol of DroneCAN serial port

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

CAN_D2_UC_S2_NOD: Serial CAN remote node number

Note: This parameter is for advanced users

Note: Reboot required after change

CAN remote node number for serial port

Range
0 to 127

CAN_D2_UC_S2_IDX: Serial port number on remote CAN node

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range	Values
0 to 100	Value Meaning -1 Disabled 0 Serial0 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6

CAN_D2_UC_S2_BD: DroneCAN Serial default baud rate

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

CAN_D2_UC_S2_PRO: Serial protocol of DroneCAN serial port

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

CAN_D2_UC_S3_NOD: Serial CAN remote node number

Note: This parameter is for advanced users

Note: Reboot required after change

CAN node number for serial port

Range
0 to 127

CAN_D2_UC_S3_IDX: Serial port number on remote CAN node

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range	Values
0 to 100	Value Meaning -1 Disabled 0 Serial0 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6

CAN_D2_UC_S3_BD: Serial baud rate on remote CAN node

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

CAN_D2_UC_S3_PRO: Serial protocol of DroneCAN serial port

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

CAN_D3_ Parameters

CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 DroneCAN 4 PiccoloCAN 6 EFI_NWPMU 7 USD1 8 KDECAN 10 Scripting 11 Benewake 12 Scripting2 13 TOFSenseP 14 RadarCAN (NanoRadar/Hexsoon)

CAN_D3_PROTOCOL2: Secondary protocol with 11 bit CAN addressing

Note: This parameter is for advanced users

Note: Reboot required after change

Secondary protocol with 11 bit CAN addressing

Values
Value Meaning 0 Disabled 7 USD1 10 Scripting 11 Benewake 12 Scripting2 13 TOFSenseP 14 RadarCAN (NanoRadar/Hexsoon)

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D3_PC_ESC_RT: ESC output rate

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 to 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 to 500	hertz

CAN_D3_PC_ECU_ID: ECU Node ID

Note: This parameter is for advanced users

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

Range
0 to 255

CAN_D3_PC_ECU_RT: ECU command output rate

Note: This parameter is for advanced users

Output rate of ECU command messages

Range	Units
1 to 500	hertz

CAN_D3_UC_ Parameters

CAN_D3_UC_NODE: Own node ID

Note: This parameter is for advanced users

DroneCAN node ID used by the driver itself on this network

Range
1 to 125

CAN_D3_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN

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

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 16 Servo 17 17 Servo 18 18 Servo 19 19 Servo 20 20 Servo 21 21 Servo 22 22 Servo 23 23 Servo 24 24 Servo 25 25 Servo 26 26 Servo 27 27 Servo 28 28 Servo 29 29 Servo 30 30 Servo 31 31 Servo 32

CAN_D3_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN

Note: This parameter is for advanced users

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

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D3_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 to 200	hertz

CAN_D3_UC_OPTION: DroneCAN options

Note: This parameter is for advanced users

Option flags

Bitmask
Bit Meaning 0 ClearDNADatabase 1 IgnoreDNANodeConflicts 2 EnableCanfd 3 IgnoreDNANodeUnhealthy 4 SendServoAsPWM 5 SendGNSS 6 UseHimarkServo 7 HobbyWingESC 8 EnableStats 9 EnableFlexDebug

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 to 200	hertz

CAN_D3_UC_ESC_OF: ESC Output channels offset

Note: This parameter is for advanced users

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

Range
0 to 18

CAN_D3_UC_POOL: CAN pool size

Note: This parameter is for advanced users

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

Range
1024 to 16384

CAN_D3_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN.

Note: This parameter is for advanced users

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D3_UC_RLY_RT: DroneCAN relay output rate

Note: This parameter is for advanced users

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

Range	Units
0 to 200	hertz

CAN_D3_UC_SER_EN: DroneCAN Serial enable

Note: This parameter is for advanced users

Note: Reboot required after change

Enable DroneCAN virtual serial ports

Values
Value Meaning 0 Disabled 1 Enabled

CAN_D3_UC_S1_NOD: Serial CAN remote node number

Note: This parameter is for advanced users

Note: Reboot required after change

CAN remote node number for serial port

Range
0 to 127

CAN_D3_UC_S1_IDX: DroneCAN Serial1 index

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range	Values
0 to 100	Value Meaning -1 Disabled 0 Serial0 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6

CAN_D3_UC_S1_BD: DroneCAN Serial default baud rate

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

CAN_D3_UC_S1_PRO: Serial protocol of DroneCAN serial port

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

CAN_D3_UC_S2_NOD: Serial CAN remote node number

Note: This parameter is for advanced users

Note: Reboot required after change

CAN remote node number for serial port

Range
0 to 127

CAN_D3_UC_S2_IDX: Serial port number on remote CAN node

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range	Values
0 to 100	Value Meaning -1 Disabled 0 Serial0 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6

CAN_D3_UC_S2_BD: DroneCAN Serial default baud rate

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

CAN_D3_UC_S2_PRO: Serial protocol of DroneCAN serial port

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

CAN_D3_UC_S3_NOD: Serial CAN remote node number

Note: This parameter is for advanced users

Note: Reboot required after change

CAN node number for serial port

Range
0 to 127

CAN_D3_UC_S3_IDX: Serial port number on remote CAN node

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range	Values
0 to 100	Value Meaning -1 Disabled 0 Serial0 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6

CAN_D3_UC_S3_BD: Serial baud rate on remote CAN node

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

CAN_D3_UC_S3_PRO: Serial protocol of DroneCAN serial port

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

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 to 1000000

CAN_P1_FDBITRATE: Bitrate of CANFD interface

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

Values
Value Meaning 1 1M 2 2M 4 4M 5 5M 8 8M

CAN_P1_OPTIONS: CAN per-interface options

Note: This parameter is for advanced users

CAN per-interface options

Bitmask
Bit Meaning 0 LogAllFrames

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 to 1000000

CAN_P2_FDBITRATE: Bitrate of CANFD interface

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

Values
Value Meaning 1 1M 2 2M 4 4M 5 5M 8 8M

CAN_P2_OPTIONS: CAN per-interface options

Note: This parameter is for advanced users

CAN per-interface options

Bitmask
Bit Meaning 0 LogAllFrames

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 to 1000000

CAN_P3_FDBITRATE: Bitrate of CANFD interface

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

Values
Value Meaning 1 1M 2 2M 4 4M 5 5M 8 8M

CAN_P3_OPTIONS: CAN per-interface options

Note: This parameter is for advanced users

CAN per-interface options

Bitmask
Bit Meaning 0 LogAllFrames

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 to 127

CAN_SLCAN_SDELAY: SLCAN Start Delay

Duration after which slcan starts after setting SERNUM in seconds.

Range
0 to 127

CIRC Parameters

CIRC_RADIUS: Circle Radius

Vehicle will circle the center at this distance

Increment	Range	Units
1	0 to 100	meters

CIRC_SPEED: Circle Speed

Vehicle will move at this speed around the circle. If set to zero WP_SPEED will be used

Increment	Range	Units
0.1	0 to 10	meters per second

CIRC_DIR: Circle Direction

Circle Direction

Values
Value Meaning 0 Clockwise 1 Counter-Clockwise

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 to 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 to 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

Calibration	Increment	Range	Units
1	1	-400 to 400	milligauss

COMPASS_DEC: Compass declination

An angle to compensate between the true north and magnetic north

Increment	Range	Units
0.01	-3.142 to 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 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 to 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 to 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)

Calibration	Increment	Range	Units
1	1	-1000 to 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. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Yaw45Roll180 10 Yaw90Roll180 11 Yaw135Roll180 12 Pitch180 13 Yaw225Roll180 14 Yaw270Roll180 15 Yaw315Roll180 16 Roll90 17 Yaw45Roll90 18 Yaw90Roll90 19 Yaw135Roll90 20 Roll270 21 Yaw45Roll270 22 Yaw90Roll270 23 Yaw135Roll270 24 Pitch90 25 Pitch270 26 Yaw90Pitch180 27 Yaw270Pitch180 28 Pitch90Roll90 29 Pitch90Roll180 30 Pitch90Roll270 31 Pitch180Roll90 32 Pitch180Roll270 33 Pitch270Roll90 34 Pitch270Roll180 35 Pitch270Roll270 36 Yaw90Pitch180Roll90 37 Yaw270Roll90 38 Yaw293Pitch68Roll180 39 Pitch315 40 Pitch315Roll90 42 Roll45 43 Roll315 100 Custom 4.1 and older 101 Custom 1 102 Custom 2

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 to 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 to 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

Calibration	Increment	Range	Units
1	1	-400 to 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 to 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 to 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)

Calibration	Increment	Range	Units
1	1	-1000 to 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 to 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 to 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

Calibration	Increment	Range	Units
1	1	-400 to 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 to 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 to 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)

Calibration	Increment	Range	Units
1	1	-1000 to 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. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Yaw45Roll180 10 Yaw90Roll180 11 Yaw135Roll180 12 Pitch180 13 Yaw225Roll180 14 Yaw270Roll180 15 Yaw315Roll180 16 Roll90 17 Yaw45Roll90 18 Yaw90Roll90 19 Yaw135Roll90 20 Roll270 21 Yaw45Roll270 22 Yaw90Roll270 23 Yaw135Roll270 24 Pitch90 25 Pitch270 26 Yaw90Pitch180 27 Yaw270Pitch180 28 Pitch90Roll90 29 Pitch90Roll180 30 Pitch90Roll270 31 Pitch180Roll90 32 Pitch180Roll270 33 Pitch270Roll90 34 Pitch270Roll180 35 Pitch270Roll270 36 Yaw90Pitch180Roll90 37 Yaw270Roll90 38 Yaw293Pitch68Roll180 39 Pitch315 40 Pitch315Roll90 42 Roll45 43 Roll315 100 Custom 4.1 and older 101 Custom 1 102 Custom 2

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. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Yaw45Roll180 10 Yaw90Roll180 11 Yaw135Roll180 12 Pitch180 13 Yaw225Roll180 14 Yaw270Roll180 15 Yaw315Roll180 16 Roll90 17 Yaw45Roll90 18 Yaw90Roll90 19 Yaw135Roll90 20 Roll270 21 Yaw45Roll270 22 Yaw90Roll270 23 Yaw135Roll270 24 Pitch90 25 Pitch270 26 Yaw90Pitch180 27 Yaw270Pitch180 28 Pitch90Roll90 29 Pitch90Roll180 30 Pitch90Roll270 31 Pitch180Roll90 32 Pitch180Roll270 33 Pitch270Roll90 34 Pitch270Roll180 35 Pitch270Roll270 36 Yaw90Pitch180Roll90 37 Yaw270Roll90 38 Yaw293Pitch68Roll180 39 Pitch315 40 Pitch315Roll90 42 Roll45 43 Roll315 100 Custom 4.1 and older 101 Custom 1 102 Custom 2

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]]

Calibration
1

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]]

Calibration
1

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]]

Calibration
1

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]]

Calibration
1

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]]

Calibration
1

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]]

Calibration
1

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 to 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 to 3000

COMPASS_DISBLMSK: 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 AK0991x 7 IST8310 8 ICM20948 9 MMC3416 11 DroneCAN 12 QMC5883 14 MAG3110 15 IST8308 16 RM3100 17 MSP 18 ExternalAHRS 19 MMC5XX3 20 QMC5883P 21 BMM350 22 IIS2MDC

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 to 100	percent

COMPASS_AUTO_ROT: Automatically check orientation

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

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

COMPASS_PRIO1_ID: Compass device id with 1st order priority

Note: This parameter is for advanced users

Note: Reboot required after change

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

COMPASS_PRIO2_ID: Compass device id with 2nd order priority

Note: This parameter is for advanced users

Note: Reboot required after change

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

COMPASS_PRIO3_ID: Compass device id with 3rd order priority

Note: This parameter is for advanced users

Note: Reboot required after change

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

COMPASS_ENABLE: Enable Compass

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_SCALE: Compass1 scale factor

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

Range
0 to 1.3

COMPASS_SCALE2: Compass2 scale factor

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

Range
0 to 1.3

COMPASS_SCALE3: Compass3 scale factor

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

Range
0 to 1.3

COMPASS_OPTIONS: Compass options

Note: This parameter is for advanced users

This sets options to change the behaviour of the compass

Bitmask
Bit Meaning 0 CalRequireGPS 1 Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required)

COMPASS_DEV_ID4: Compass4 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID5: Compass5 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID6: Compass6 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID7: Compass7 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID8: Compass8 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_CUS_ROLL: Custom orientation roll offset

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Units
1	-180 to 180	degrees

COMPASS_CUS_PIT: Custom orientation pitch offset

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Units
1	-180 to 180	degrees

COMPASS_CUS_YAW: Custom orientation yaw offset

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Units
1	-180 to 180	degrees

COMPASS_PMOT Parameters

COMPASS_PMOT_EN: per-motor compass correction enable

Note: This parameter is for advanced users

This enables per-motor compass corrections

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_PMOT_EXP: per-motor exponential correction

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 to 2

COMPASS_PMOT1_X: Compass per-motor1 X

Note: This parameter is for advanced users

Compensation for X axis of motor1

COMPASS_PMOT1_Y: Compass per-motor1 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor1

COMPASS_PMOT1_Z: Compass per-motor1 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor1

COMPASS_PMOT2_X: Compass per-motor2 X

Note: This parameter is for advanced users

Compensation for X axis of motor2

COMPASS_PMOT2_Y: Compass per-motor2 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor2

COMPASS_PMOT2_Z: Compass per-motor2 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor2

COMPASS_PMOT3_X: Compass per-motor3 X

Note: This parameter is for advanced users

Compensation for X axis of motor3

COMPASS_PMOT3_Y: Compass per-motor3 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor3

COMPASS_PMOT3_Z: Compass per-motor3 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor3

COMPASS_PMOT4_X: Compass per-motor4 X

Note: This parameter is for advanced users

Compensation for X axis of motor4

COMPASS_PMOT4_Y: Compass per-motor4 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor4

COMPASS_PMOT4_Z: Compass per-motor4 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor4

CUST_ROT Parameters

CUST_ROT_ENABLE: Enable Custom rotations

Note: Reboot required after change

This enables custom rotations

Values
Value Meaning 0 Disable 1 Enable

CUST_ROT1_ Parameters

CUST_ROT1_ROLL: Custom roll

Note: Reboot required after change

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT1_PITCH: Custom pitch

Note: Reboot required after change

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT1_YAW: Custom yaw

Note: Reboot required after change

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT2_ Parameters

CUST_ROT2_ROLL: Custom roll

Note: Reboot required after change

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT2_PITCH: Custom pitch

Note: Reboot required after change

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT2_YAW: Custom yaw

Note: Reboot required after change

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

Units
degrees

DDS Parameters

DDS_ENABLE: DDS enable

Note: This parameter is for advanced users

Note: Reboot required after change

Enable DDS subsystem

Values
Value Meaning 0 Disabled 1 Enabled

DDS_UDP_PORT: DDS UDP port

Note: Reboot required after change

UDP port number for DDS

Range
1 to 65535

DDS_DOMAIN_ID: DDS DOMAIN ID

Note: Reboot required after change

Set the ROS_DOMAIN_ID

Range
0 to 232

DDS_TIMEOUT_MS: DDS ping timeout

Note: Reboot required after change

The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting.

Increment	Range	Units
1	1 to 10000	milliseconds

DDS_MAX_RETRY: DDS ping max attempts

Note: Reboot required after change

The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting. Set to 0 to allow unlimited retries.

Increment	Range
1	0 to 100

DDS_IP Parameters

DDS_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

DDS_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

DDS_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

DDS_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

DID_ Parameters

DID_ENABLE: Enable ODID subsystem

Enable ODID subsystem

Values
Value Meaning 0 Disabled 1 Enabled

DID_MAVPORT: MAVLink serial port

Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.

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

DID_CANDRIVER: DroneCAN driver number

DroneCAN driver index, 0 to disable DroneCAN

Values
Value Meaning 0 Disabled 1 Driver1 2 Driver2

DID_OPTIONS: OpenDroneID options

Options for OpenDroneID subsystem

Bitmask
Bit Meaning 0 EnforceArming 1 AllowNonGPSPosition 2 LockUASIDOnFirstBasicIDRx

DID_BARO_ACC: Barometer vertical accuraacy

Note: This parameter is for advanced users

Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default

Units
meters

DOCK Parameters

DOCK_SPEED: Dock mode speed

Vehicle speed limit in dock mode

Increment	Range	Units
0.1	0 to 100	meters per second

DOCK_DIR: Dock mode direction of approach

Note: This parameter is for advanced users

Compass direction in which vehicle should approach towards dock. -1 value represents unset parameter

Increment	Range	Units
1	0 to 360	degrees

DOCK_HDG_CORR_EN: Dock mode heading correction enable/disable

Note: This parameter is for advanced users

When enabled, the autopilot modifies the path to approach the target head-on along desired line of approach in dock mode

Values
Value Meaning 0 Disabled 1 Enabled

DOCK_HDG_CORR_WT: Dock mode heading correction weight

Note: This parameter is for advanced users

This value describes how aggressively vehicle tries to correct its heading to be on desired line of approach

Increment	Range
0.05	0.00 to 0.90

DOCK_STOP_DIST: Distance from docking target when we should stop

The vehicle starts stopping when it is this distance away from docking target

Increment	Range	Units
0.01	0 to 2	meters

EAHRS Parameters

EAHRS_TYPE: AHRS type

Type of AHRS device

Values
Value Meaning 0 None 1 VectorNav 2 MicroStrain5 5 InertialLabs 7 MicroStrain7

EAHRS_RATE: AHRS data rate

Requested rate for AHRS device

Units
hertz

EAHRS_OPTIONS: External AHRS options

External AHRS options bitmask

Bitmask
Bit Meaning 0 Vector Nav use uncompensated values for accel gyro and mag.

EAHRS_SENSORS: External AHRS sensors

Note: This parameter is for advanced users

External AHRS sensors bitmask

Bitmask
Bit Meaning 0 GPS 1 IMU 2 Baro 3 Compass

EAHRS_LOG_RATE: AHRS logging rate

Logging rate for EARHS devices

Units
hertz

EFI Parameters

EFI_TYPE: EFI communication type

Note: This parameter is for advanced users

Note: Reboot required after change

What method of communication is used for EFI #1

Values
Value Meaning 0 None 1 Serial-MS 2 NWPMU 3 Serial-Lutan 4 Loweheiser 5 DroneCAN 6 Currawong-ECU 7 Scripting 8 Hirth 9 MAVLink

EFI_COEF1: EFI Calibration Coefficient 1

Note: This parameter is for advanced users

Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle

Range
0 to 1

EFI_COEF2: EFI Calibration Coefficient 2

Note: This parameter is for advanced users

Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1

Range
0 to 10

EFI_FUEL_DENS: ECU Fuel Density

Note: This parameter is for advanced users

Used to calculate fuel consumption

Range	Units
0 to 10000	kilograms per cubic meter

EFI_THRLIN Parameters

EFI_THRLIN_EN: Enable throttle linearisation

Note: This parameter is for advanced users

Enable EFI throttle linearisation

Values
Value Meaning 0 Disabled 1 Enabled

EFI_THRLIN_COEF1: Throttle linearisation - First Order

Note: This parameter is for advanced users

Note: Reboot required after change

First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)

Range
-1 to 1

EFI_THRLIN_COEF2: Throttle linearisation - Second Order

Note: This parameter is for advanced users

Note: Reboot required after change

Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)

Range
-1 to 1

EFI_THRLIN_COEF3: Throttle linearisation - Third Order

Note: This parameter is for advanced users

Note: Reboot required after change

Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)

Range
-1 to 1

EFI_THRLIN_OFS: throttle linearization offset

Note: This parameter is for advanced users

Note: Reboot required after change

Offset for throttle linearization

Range
0 to 100

EK2_ Parameters

EK2_ENABLE: Enable EKF2

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 Enabled

EK2_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

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

Values
Value Meaning 0 GPS 3D Vel and 2D Pos 1 GPS 2D vel and 2D pos 2 GPS 2D pos 3 No GPS

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 5.0	meters per second

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 5.0	meters per second

EK2_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK2_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
5	10 to 100	meters

EK2_ALT_SOURCE: Primary altitude sensor source

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Use Baro 1 Use Range Finder 2 Use GPS 3 Use Range Beacon

EK2_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK2_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Units
10	0 to 250	milliseconds

EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.01 to 0.5	gauss

EK2_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

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

Values
Value Meaning 0 When flying 1 When manoeuvring 2 Never 3 After first climb yaw reset 4 Always

EK2_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 to 5.0	meters per second

EK2_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK2_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	1.0 to 4.0	radians per second

EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 1.0	radians per second

EK2_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Units
10	0 to 127	milliseconds

EK2_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.0001	0.0001 to 0.1	radians per second

EK2_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.01 to 1.0	meters per square second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.001	radians per square second

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

Note: This parameter is for advanced users

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

Range	Units
0.000001 to 0.001	hertz

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.005	meters per cubic second

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.01 to 1.0	meters per square second

EK2_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

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

Increment	Range
0.1	0.0 to 1.0

EK2_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 NSats 1 HDoP 2 speed error 3 position error 4 yaw error 5 pos drift 6 vert speed 7 horiz speed

EK2_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 FirstIMU 1 SecondIMU 2 ThirdIMU 3 FourthIMU 4 FifthIMU 5 SixthIMU

EK2_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

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

Range	Units
50 to 200	percent

EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

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

Range	Units
0.5 to 50.0	meters

EK2_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 1.0	radians

EK2_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

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

Note: This parameter is for advanced users

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

Increment	Range	Units
5	10 to 50	centiseconds

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.01	gauss per second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.01	gauss per second

EK2_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1 to 70	percent

EK2_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 to 0.2

EK2_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK2_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Units
10	0 to 127	milliseconds

EK2_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

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

Increment	Range	Units
0.5	2.0 to 6.0	meters per second

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

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 FirstEKF 1 SecondEKF 2 ThirdEKF 3 FourthEKF 4 FifthEKF 5 SixthEKF

EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 Correct when using Baro height 1 Correct when using range finder height 2 Apply corrections to local position

EK2_FLOW_USE: Optical flow use bitmask

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 None 1 Navigation 2 Terrain

EK2_MAG_EF_LIM: EarthField error limit

Note: This parameter is for advanced users

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

Range	Units
0 to 500	milligauss

EK2_HRT_FILT: Height rate filter crossover frequency

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

Range	Units
0.1 to 30.0	hertz

EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 FirstEKF 1 SecondEKF 2 ThirdEKF 3 FourthEKF 4 FifthEKF 5 SixthEKF

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

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 FirstEKF 1 SecondEKF 2 ThirdEKF 3 FourthEKF 4 FifthEKF 5 SixthEKF

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

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range
1	1 to 10

EK2_OPTIONS: Optional EKF behaviour

Note: This parameter is for advanced users

optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution

Bitmask
Bit Meaning 0 DisableExternalNavigation

EK3_ Parameters

EK3_ENABLE: Enable EKF3

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 Enabled

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 5.0	meters per second

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 5.0	meters per second

EK3_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.

Increment	Range
25	100 to 1000

EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK3_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.

Increment	Range
25	100 to 1000

EK3_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.

Increment	Range	Units
5	10 to 100	meters

EK3_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.

Increment	Range	Units
0.1	0.1 to 100.0	meters

EK3_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.

Increment	Range
25	100 to 1000

EK3_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Units
10	0 to 250	milliseconds

EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.01 to 0.5	gauss

EK3_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 When flying 1 When manoeuvring 2 Never 3 After first climb yaw reset 4 Always 5 Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW) 6 External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)

EK3_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 to 5.0	meters per second

EK3_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK3_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	1.0 to 4.0	radians per second

EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 1.0	radians per second

EK3_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Units
10	0 to 250	milliseconds

EK3_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.0001	0.0001 to 0.1	radians per second

EK3_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.01 to 1.0	meters per square second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.001	radians per square second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.02	meters per cubic second

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.01 to 2.0	meters per square second

EK3_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

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

Increment	Range
0.1	0.0 to 2.0

EK3_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 NSats 1 HDoP 2 speed error 3 position error 4 yaw error 5 pos drift 6 vert speed 7 horiz speed

EK3_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 FirstIMU 1 SecondIMU 2 ThirdIMU 3 FourthIMU 4 FifthIMU 5 SixthIMU

EK3_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

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

Range	Units
50 to 200	percent

EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

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

Range	Units
0.5 to 50.0	meters

EK3_BETA_MASK: Bitmask controlling sidelip angle fusion

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 Always 1 WhenNoYawSensor

EK3_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 1.0	radians

EK3_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

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

Note: This parameter is for advanced users

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

Increment	Range	Units
5	10 to 50	centiseconds

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.01	gauss per second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.01	gauss per second

EK3_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1 to 70	percent

EK3_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 to 0.2

EK3_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK3_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Units
10	0 to 250	milliseconds

EK3_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

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

Increment	Range	Units
0.5	2.0 to 6.0	meters per second

EK3_ACC_BIAS_LIM: Accelerometer bias limit

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 to 2.5	meters per square second

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

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 FirstEKF 1 SecondEKF 2 ThirdEKF 3 FourthEKF 4 FifthEKF 5 SixthEKF

EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 Correct when using Baro height 1 Correct when using range finder height 2 Apply corrections to local position

EK3_VIS_VERR_MIN: Visual odometry minimum velocity error

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 0.5	meters per second

EK3_VIS_VERR_MAX: Visual odometry maximum velocity error

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 to 5.0	meters per second

EK3_WENC_VERR: Wheel odometry velocity error

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.01 to 1.0	meters per second

EK3_FLOW_USE: Optical flow use bitmask

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 None 1 Navigation 2 Terrain

EK3_HRT_FILT: Height rate filter crossover frequency

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

Range	Units
0.1 to 30.0	hertz

EK3_MAG_EF_LIM: EarthField error limit

Note: This parameter is for advanced users

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

Range	Units
0 to 500	milligauss

EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 FirstEKF 1 SecondEKF 2 ThirdEKF 3 FourthEKF 4 FifthEKF 5 SixthEKF

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

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 FirstEKF 1 SecondEKF 2 ThirdEKF 3 FourthEKF 4 FifthEKF 5 SixthEKF

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

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range
1	1 to 10

EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold

Note: This parameter is for advanced users

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

Increment	Range
0.05	0.05 to 1

EK3_AFFINITY: EKF3 Sensor Affinity Options

Note: This parameter is for advanced users

Note: Reboot required after change

These options control the affinity between sensor instances and EKF cores

Bitmask
Bit Meaning 0 EnableGPSAffinity 1 EnableBaroAffinity 2 EnableCompassAffinity 3 EnableAirspeedAffinity

EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag

Note: This parameter is for advanced users

Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a positive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.

Range	Units
0.0 to 1000.0	kilograms per square meter

EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag

Note: This parameter is for advanced users

Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a positive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.

Range	Units
50.0 to 1000.0	kilograms per square meter

EK3_DRAG_M_NSE: Observation noise for drag acceleration

Note: This parameter is for advanced users

This sets the amount of noise used when fusing X and Y acceleration as an observation that enables estimation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters

Increment	Range	Units
0.1	0.1 to 2.0	meters per square second

EK3_DRAG_MCOEF: Momentum coefficient for propeller drag

Note: This parameter is for advanced users

This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a positive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters.

Increment	Range	Units
0.01	0.0 to 1.0	per second

EK3_OGNM_TEST_SF: On ground not moving test scale factor

Note: This parameter is for advanced users

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

Increment	Range
0.5	1.0 to 10.0

EK3_GND_EFF_DZ: Baro height ground effect dead zone

Note: This parameter is for advanced users

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

Increment	Range
0.5	0.0 to 10.0

EK3_PRIMARY: Primary core number

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 2

EK3_LOG_LEVEL: Logging Level

Note: This parameter is for advanced users

Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.

Increment	Range
1	0 to 3

EK3_GPS_VACC_MAX: GPS vertical accuracy threshold

Note: This parameter is for advanced users

Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.

Increment	Range	Units
0.1	0.0 to 10.0	meters

EK3_OPTIONS: Optional EKF behaviour

Note: This parameter is for advanced users

EKF optional behaviour. Bit 0 (JammingExpected): Setting JammingExpected will change the EKF behaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad position estimate. Bit 1 (Manual lane switching): DANGEROUS – If enabled, this disables automatic lane switching. If the active lane becomes unhealthy, no automatic switching will occur. Users must manually set EK3_PRIMARY to change lanes. No health checks will be performed on the selected lane. Use with extreme caution.

Bitmask
Bit Meaning 0 JammingExpected 1 ManualLaneSwitching

EK3_SRC Parameters

EK3_SRC1_POSXY: Position Horizontal Source (Primary)

Note: This parameter is for advanced users

Position Horizontal Source (Primary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC1_VELXY: Velocity Horizontal Source

Note: This parameter is for advanced users

Velocity Horizontal Source

Values
Value Meaning 0 None 3 GPS 4 Beacon 5 OpticalFlow 6 ExternalNav 7 WheelEncoder

EK3_SRC1_POSZ: Position Vertical Source

Note: This parameter is for advanced users

Position Vertical Source

Values
Value Meaning 0 None 1 Baro 2 RangeFinder 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC1_VELZ: Velocity Vertical Source

Note: This parameter is for advanced users

Velocity Vertical Source

Values
Value Meaning 0 None 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC1_YAW: Yaw Source

Note: This parameter is for advanced users

Yaw Source

Values
Value Meaning 0 None 1 Compass 2 GPS 3 GPS with Compass Fallback 6 ExternalNav 8 GSF

EK3_SRC2_POSXY: Position Horizontal Source (Secondary)

Note: This parameter is for advanced users

Position Horizontal Source (Secondary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)

Note: This parameter is for advanced users

Velocity Horizontal Source (Secondary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 5 OpticalFlow 6 ExternalNav 7 WheelEncoder

EK3_SRC2_POSZ: Position Vertical Source (Secondary)

Note: This parameter is for advanced users

Position Vertical Source (Secondary)

Values
Value Meaning 0 None 1 Baro 2 RangeFinder 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC2_VELZ: Velocity Vertical Source (Secondary)

Note: This parameter is for advanced users

Velocity Vertical Source (Secondary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC2_YAW: Yaw Source (Secondary)

Note: This parameter is for advanced users

Yaw Source (Secondary)

Values
Value Meaning 0 None 1 Compass 2 GPS 3 GPS with Compass Fallback 6 ExternalNav 8 GSF

EK3_SRC3_POSXY: Position Horizontal Source (Tertiary)

Note: This parameter is for advanced users

Position Horizontal Source (Tertiary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)

Note: This parameter is for advanced users

Velocity Horizontal Source (Tertiary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 5 OpticalFlow 6 ExternalNav 7 WheelEncoder

EK3_SRC3_POSZ: Position Vertical Source (Tertiary)

Note: This parameter is for advanced users

Position Vertical Source (Tertiary)

Values
Value Meaning 0 None 1 Baro 2 RangeFinder 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)

Note: This parameter is for advanced users

Velocity Vertical Source (Tertiary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC3_YAW: Yaw Source (Tertiary)

Note: This parameter is for advanced users

Yaw Source (Tertiary)

Values
Value Meaning 0 None 1 Compass 2 GPS 3 GPS with Compass Fallback 6 ExternalNav 8 GSF

EK3_SRC_OPTIONS: EKF Source Options

Note: This parameter is for advanced users

EKF Source Options. Bit 0: Fuse all velocity sources present in EK3_SRCx_VEL_. Bit 1: Align external navigation position when using optical flow. Bit 3: Use SRC per core. By default, EKF source selection is controlled via the EK3_SRC parameters, allowing only one source to be active at a time across all cores (switchable via MAVLink, Lua, or RC). Enabling this bit maps EKF core 1 to SRC1, core 2 to SRC2, etc., allowing each core to run independently with a dedicated source.

Bitmask
Bit Meaning 0 FuseAllVelocities 1 AlignExtNavPosWhenUsingOptFlow 3 UsePerCoreEKFSources

ESC_TLM Parameters

ESC_TLM_MAV_OFS: ESC Telemetry mavlink offset

Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets

Increment	Range
1	0 to 31

FENCE_ Parameters

FENCE_ENABLE: Fence enable/disable

Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted.

Values
Value Meaning 0 Disabled 1 Enabled

FENCE_TYPE: Fence Type

Configured fence types held as bitmask. Max altitide, Circle and Polygon fences will be immediately enabled if configured. Min altitude fence will only be enabled once the minimum altitude is reached.

Bitmask
Bit Meaning 1 Circle Centered on Home 2 Inclusion/Exclusion Circles+Polygons

FENCE_ACTION: Fence Action

What action should be taken when fence is breached

Values
Value Meaning 0 Report Only 1 RTL or Hold 2 Hold 3 SmartRTL or RTL or Hold 4 SmartRTL or Hold 5 Terminate 6 Loiter or Hold

FENCE_RADIUS: Circular Fence Radius

Circle fence radius which when breached will cause an RTL

Range	Units
30 to 10000	meters

FENCE_MARGIN: Fence Margin

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

Range	Units
1 to 10	meters

FENCE_TOTAL: Fence polygon point total

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

Range
1 to 20

FENCE_OPTIONS: Fence options

When bit 0 is set disable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas.

Bitmask
Bit Meaning 0 Disable mode change following fence action until fence breach is cleared 1 Allow union of inclusion areas 2 Notify on margin breaches

FENCE_NTF_FREQ: Fence margin notification frequency in hz

Note: This parameter is for advanced users

When bit 2 of FENCE_OPTIONS is set this parameter controls the frequency of margin breach notifications. If set to 0 only new margin breaches are notified.

Range	Units
0 to 10	hertz

FFT_ Parameters

FFT_ENABLE: Enable

Note: This parameter is for advanced users

Note: Reboot required after change

Enable Gyro FFT analyser

Values
Value Meaning 0 Disabled 1 Enabled

FFT_MINHZ: Minimum Frequency

Note: This parameter is for advanced users

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

Range	Units
20 to 400	hertz

FFT_MAXHZ: Maximum Frequency

Note: This parameter is for advanced users

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

Range	Units
20 to 495	hertz

FFT_SAMPLE_MODE: Sample Mode

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 4

FFT_WINDOW_SIZE: FFT window size

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
32 to 1024

FFT_WINDOW_OLAP: FFT window overlap

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 0.9

FFT_FREQ_HOVER: FFT learned hover frequency

Note: This parameter is for advanced users

The learned hover noise frequency

Range
0 to 250

FFT_THR_REF: FFT learned thrust reference

Note: This parameter is for advanced users

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

Range
0.01 to 0.9

FFT_SNR_REF: FFT SNR reference threshold

Note: This parameter is for advanced users

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

Range
0.0 to 100.0

FFT_ATT_REF: FFT attenuation for bandwidth calculation

Note: This parameter is for advanced users

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

Range
0 to 100

FFT_BW_HOVER: FFT learned bandwidth at hover

Note: This parameter is for advanced users

FFT learned bandwidth at hover for the attenuation frequencies.

Range
0 to 200

FFT_HMNC_FIT: FFT harmonic fit frequency threshold

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0 to 100

FFT_HMNC_PEAK: FFT harmonic peak target

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Auto 1 Center Frequency 2 Lower-Shoulder Frequency 3 Upper-Shoulder Frequency 4 Roll-Axis 5 Pitch-Axis

FFT_NUM_FRAMES: FFT output frames to retain and average

Note: This parameter is for advanced users

Note: Reboot required after change

Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.

Range
0 to 8

FFT_OPTIONS: FFT options

Note: This parameter is for advanced users

Note: Reboot required after change

FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference

Bitmask
Bit Meaning 0 Enable post-filter FFT 1 Check motor noise

FILT1_ Parameters

FILT1_TYPE: Filter Type

Note: Reboot required after change

Filter Type

Values
Value Meaning 0 Disable 1 Notch Filter

FILT1_NOTCH_FREQ: Notch Filter center frequency

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT1_NOTCH_Q: Notch Filter quality factor

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT1_NOTCH_ATT: Notch Filter attenuation

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT2_ Parameters

FILT2_TYPE: Filter Type

Note: Reboot required after change

Filter Type

Values
Value Meaning 0 Disable 1 Notch Filter

FILT2_NOTCH_FREQ: Notch Filter center frequency

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT2_NOTCH_Q: Notch Filter quality factor

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT2_NOTCH_ATT: Notch Filter attenuation

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT3_ Parameters

FILT3_TYPE: Filter Type

Note: Reboot required after change

Filter Type

Values
Value Meaning 0 Disable 1 Notch Filter

FILT3_NOTCH_FREQ: Notch Filter center frequency

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT3_NOTCH_Q: Notch Filter quality factor

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT3_NOTCH_ATT: Notch Filter attenuation

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT4_ Parameters

FILT4_TYPE: Filter Type

Note: Reboot required after change

Filter Type

Values
Value Meaning 0 Disable 1 Notch Filter

FILT4_NOTCH_FREQ: Notch Filter center frequency

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT4_NOTCH_Q: Notch Filter quality factor

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT4_NOTCH_ATT: Notch Filter attenuation

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT5_ Parameters

FILT5_TYPE: Filter Type

Note: Reboot required after change

Filter Type

Values
Value Meaning 0 Disable 1 Notch Filter

FILT5_NOTCH_FREQ: Notch Filter center frequency

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT5_NOTCH_Q: Notch Filter quality factor

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT5_NOTCH_ATT: Notch Filter attenuation

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT6_ Parameters

FILT6_TYPE: Filter Type

Note: Reboot required after change

Filter Type

Values
Value Meaning 0 Disable 1 Notch Filter

FILT6_NOTCH_FREQ: Notch Filter center frequency

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT6_NOTCH_Q: Notch Filter quality factor

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT6_NOTCH_ATT: Notch Filter attenuation

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT7_ Parameters

FILT7_TYPE: Filter Type

Note: Reboot required after change

Filter Type

Values
Value Meaning 0 Disable 1 Notch Filter

FILT7_NOTCH_FREQ: Notch Filter center frequency

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT7_NOTCH_Q: Notch Filter quality factor

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT7_NOTCH_ATT: Notch Filter attenuation

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT8_ Parameters

FILT8_TYPE: Filter Type

Note: Reboot required after change

Filter Type

Values
Value Meaning 0 Disable 1 Notch Filter

FILT8_NOTCH_FREQ: Notch Filter center frequency

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT8_NOTCH_Q: Notch Filter quality factor

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT8_NOTCH_ATT: Notch Filter attenuation

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FLOW Parameters

FLOW_TYPE: Optical flow sensor type

Note: Reboot required after change

Optical flow sensor type

Values
Value Meaning 0 None 1 PX4Flow 2 Pixart 3 Bebop 4 CXOF 5 MAVLink 6 DroneCAN 7 MSP 8 UPFLOW 10 SITL

FLOW_FXSCALER: X axis optical flow scale factor correction

This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.

Increment	Range
1	-800 to +800

FLOW_FYSCALER: Y axis optical flow scale factor correction

This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.

Increment	Range
1	-800 to +800

FLOW_ORIENT_YAW: Flow sensor yaw alignment

Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.

Increment	Range	Units
10	-17999 to +18000	centidegrees

FLOW_POS_X: X position offset

Note: This parameter is for advanced users

X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

FLOW_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

FLOW_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.

Increment	Range	Units
0.01	-5 to 5	meters

FLOW_ADDR: Address on the bus

Note: This parameter is for advanced users

This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.

Range
0 to 127

FLOW_HGT_OVR: Height override of sensor above ground

Note: This parameter is for advanced users

This is used in rover vehicles, where the sensor is a fixed height above the ground

Increment	Range	Units
0.01	0 to 2	meters

FOLL Parameters

FOLL_ENABLE: Follow enable/disable

Enabled/disable following a target

Values
Value Meaning 0 Disabled 1 Enabled

FOLL_SYSID: Follow target's mavlink system id

Follow target's mavlink system id

Range
0 to 255

FOLL_DIST_MAX: Follow distance maximum

Follow distance maximum. If exceeded, the follow estimate will be considered invalid.

Range	Units
1 to 1000	meters

FOLL_OFS_TYPE: Follow offset type

Follow offset type

Values
Value Meaning 0 North-East-Down 1 Relative to lead vehicle heading

FOLL_OFS_X: Follow offsets in meters north/forward

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

Increment	Range	Units
1	-100 to 100	meters

FOLL_OFS_Y: Follow offsets in meters east/right

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

Increment	Range	Units
1	-100 to 100	meters

FOLL_OFS_Z: Follow offsets in meters down

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

Increment	Range	Units
1	-100 to 100	meters

FOLL_YAW_BEHAVE: Follow yaw behaviour

Follow yaw behaviour

Values
Value Meaning 0 None 1 Face Lead Vehicle 2 Same as Lead vehicle 3 Direction of Flight

FOLL_POS_P: Follow position error P gain

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

Increment	Range
0.01	0.01 to 1.00

FOLL_ALT_TYPE: Follow altitude type

Follow altitude type

Values
Value Meaning 0 absolute 1 relative

FOLL_OPTIONS: Follow options

Follow options bitmask

Values
Value Meaning 0 None 1 Mount Follows lead vehicle on mode enter

FOLL_ACCEL_NE: Acceleration limit for the horizontal kinematic input shaping

Note: This parameter is for advanced users

Acceleration limit of the horizontal kinematic path generation used to determine how quickly the estimate varies in velocity

Range	Units
0 to 5	meters per square second

FOLL_JERK_NE: Jerk limit for the horizontal kinematic input shaping

Note: This parameter is for advanced users

Jerk limit of the horizontal kinematic path generation used to determine how quickly the estimate varies in acceleration

Range	Units
0 to 20	meters per cubic second

FOLL_ACCEL_D: Acceleration limit for the vertical kinematic input shaping

Note: This parameter is for advanced users

Acceleration limit of the vertical kinematic path generation used to determine how quickly the estimate varies in velocity

Range	Units
0 to 2.5	meters per square second

FOLL_JERK_D: Jerk limit for the vertical kinematic input shaping

Note: This parameter is for advanced users

Jerk limit of the vertical kinematic path generation used to determine how quickly the estimate varies in acceleration

Range	Units
0 to 5	meters per cubic second

FOLL_ACCEL_H: Angular acceleration limit for the heading kinematic input shaping

Note: This parameter is for advanced users

Angular acceleration limit of the heading kinematic path generation used to determine how quickly the estimate varies in angular velocity

Range	Units
0 to 90	degrees per square second

FOLL_JERK_H: Angular jerk limit for the heading kinematic input shaping

Note: This parameter is for advanced users

Angular jerk limit of the heading kinematic path generation used to determine how quickly the estimate varies in angular acceleration

Range	Units
0 to 360	degrees per cube second

FRSKY_ Parameters

FRSKY_UPLINK_ID: Uplink sensor id

Note: This parameter is for advanced users

Change the uplink sensor id (SPort only)

Values
Value Meaning -1 Disable 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26

FRSKY_DNLINK1_ID: First downlink sensor id

Note: This parameter is for advanced users

Change the first extra downlink sensor id (SPort only)

Values
Value Meaning -1 Disable 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26

FRSKY_DNLINK2_ID: Second downlink sensor id

Note: This parameter is for advanced users

Change the second extra downlink sensor id (SPort only)

Values
Value Meaning -1 Disable 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26

FRSKY_DNLINK_ID: Default downlink sensor id

Note: This parameter is for advanced users

Change the default downlink sensor id (SPort only)

Values
Value Meaning -1 Disable 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26 27 27

FRSKY_OPTIONS: FRSky Telemetry Options

A bitmask to set some FRSky Telemetry specific options

Bitmask
Bit Meaning 0 EnableAirspeedAndGroundspeed

GEN_ Parameters

GEN_TYPE: Generator type

Note: Reboot required after change

Generator type

Values
Value Meaning 0 Disabled 1 IE 650w 800w Fuel Cell 2 IE 2.4kW Fuel Cell 3 Richenpower 4 Loweheiser

GEN_OPTIONS: Generator Options

Bitmask of options for generators

Bitmask
Bit Meaning 0 Suppress Maintenance-Required Warnings

GPS Parameters

GPS_NAVFILTER: Navigation filter setting

Note: This parameter is for advanced users

Navigation filter engine setting

Values
Value Meaning 0 Portable 2 Stationary 3 Pedestrian 4 Automotive 5 Sea 6 Airborne1G 7 Airborne2G 8 Airborne4G

GPS_AUTO_SWITCH: Automatic Switchover Setting

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Use primary 1 UseBest 2 Blend 4 Use primary if 3D fix or better

GPS_SBAS_MODE: SBAS Mode

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled 2 NoChange

GPS_MIN_ELEV: Minimum elevation

Note: This parameter is for advanced users

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

Range	Units
-100 to 90	degrees

GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets

Note: This parameter is for advanced users

The GGS can send raw serial packets to inject data to multiple GPSes.

Values
Value Meaning 0 send to first GPS 1 send to 2nd GPS 127 send to all

GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask

Note: This parameter is for advanced users

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

Values
Value Meaning 0 None (0x0000) -1 All (0xFFFF) -256 External only (0xFF00)

GPS_RAW_DATA: Raw data logging

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Ignore 1 Always log 2 Stop logging when disarmed (SBF only) 5 Only log every five samples (uBlox only)

GPS_SAVE_CFG: Save GPS configuration

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Do not save config 1 Save config 2 Save only when needed

GPS_AUTO_CONFIG: Automatic GPS configuration

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disables automatic configuration 1 Enable automatic configuration for Serial GPSes only 2 Enable automatic configuration for DroneCAN as well

GPS_BLEND_MASK: Multi GPS Blending Mask

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 Horiz Pos 1 Vert Pos 2 Speed

GPS_DRV_OPTIONS: driver options

Note: This parameter is for advanced users

Additional backend specific options

Bitmask
Bit Meaning 0 Use UART2 for moving baseline on ublox 1 Use base station for GPS yaw on SBF 2 Use baudrate 115200 3 Use dedicated CAN port b/w GPSes for moving baseline 4 Use ellipsoid height instead of AMSL 5 Override GPS satellite health of L5 band from L1 health 6 Enable RTCM full parse even for a single channel 7 Disable automatic full RTCM parsing when RTCM seen on more than one channel

GPS_PRIMARY: Primary GPS

Note: This parameter is for advanced users

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

Increment	Values
1	Value Meaning 0 FirstGPS 1 SecondGPS

GPS1_ Parameters

GPS1_TYPE: GPS type

Note: This parameter is for advanced users

Note: Reboot required after change

GPS type

Values
Value Meaning 0 None 1 AUTO 2 uBlox 5 NMEA 6 SiRF 7 HIL 8 SwiftNav 9 DroneCAN 10 Septentrio(SBF) 11 Trimble(GSOF) 13 ERB 14 MAVLink 15 NOVA 16 HemisphereNMEA 17 uBlox-MovingBaseline-Base 18 uBlox-MovingBaseline-Rover 19 MSP 20 AllyStar 21 ExternalAHRS 22 DroneCAN-MovingBaseline-Base 23 DroneCAN-MovingBaseline-Rover 24 UnicoreNMEA 25 UnicoreMovingBaselineNMEA 26 Septentrio-DualAntenna(SBF)

GPS1_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 GPS 1 SBAS 2 Galileo 3 Beidou 4 IMES 5 QZSS 6 GLONASS

GPS1_RATE_MS: GPS update rate in milliseconds

Note: This parameter is for advanced users

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

Range	Units	Values
50 to 200	milliseconds	Value Meaning 100 10Hz 125 8Hz 200 5Hz

GPS1_POS_X: Antenna X position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

GPS1_POS_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

GPS1_POS_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

GPS1_DELAY_MS: GPS delay in milliseconds

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
0 to 250	milliseconds

GPS1_COM_PORT: GPS physical COM port

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Values
1	0 to 10	Value Meaning 0 COM1(RS232) on GSOF 1 COM2(TTL) on GSOF

GPS1_CAN_NODEID: Detected CAN Node ID for GPS

Note: This parameter is for advanced users

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

ReadOnly
True

GPS1_CAN_OVRIDE: DroneCAN GPS NODE ID

Note: This parameter is for advanced users

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

GPS1_MB_ Parameters

GPS1_MB_TYPE: Moving base type

Note: This parameter is for advanced users

Note: Reboot required after change

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

Values
Value Meaning 0 Relative to alternate GPS instance 1 RelativeToCustomBase

GPS1_MB_OFS_X: Base antenna X position offset

Note: This parameter is for advanced users

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Increment	Range	Units
0.01	-5 to 5	meters

GPS1_MB_OFS_Y: Base antenna Y position offset

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Increment	Range	Units
0.01	-5 to 5	meters

GPS1_MB_OFS_Z: Base antenna Z position offset

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

Increment	Range	Units
0.01	-5 to 5	meters

GPS2_ Parameters

GPS2_TYPE: GPS type

Note: This parameter is for advanced users

Note: Reboot required after change

GPS type

Values
Value Meaning 0 None 1 AUTO 2 uBlox 5 NMEA 6 SiRF 7 HIL 8 SwiftNav 9 DroneCAN 10 Septentrio(SBF) 11 Trimble(GSOF) 13 ERB 14 MAVLink 15 NOVA 16 HemisphereNMEA 17 uBlox-MovingBaseline-Base 18 uBlox-MovingBaseline-Rover 19 MSP 20 AllyStar 21 ExternalAHRS 22 DroneCAN-MovingBaseline-Base 23 DroneCAN-MovingBaseline-Rover 24 UnicoreNMEA 25 UnicoreMovingBaselineNMEA 26 Septentrio-DualAntenna(SBF)

GPS2_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 GPS 1 SBAS 2 Galileo 3 Beidou 4 IMES 5 QZSS 6 GLONASS

GPS2_RATE_MS: GPS update rate in milliseconds

Note: This parameter is for advanced users

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

Range	Units	Values
50 to 200	milliseconds	Value Meaning 100 10Hz 125 8Hz 200 5Hz

GPS2_POS_X: Antenna X position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

GPS2_POS_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

GPS2_POS_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

GPS2_DELAY_MS: GPS delay in milliseconds

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range	Units
0 to 250	milliseconds

GPS2_COM_PORT: GPS physical COM port

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Values
1	0 to 10	Value Meaning 0 COM1(RS232) on GSOF 1 COM2(TTL) on GSOF

GPS2_CAN_NODEID: Detected CAN Node ID for GPS

Note: This parameter is for advanced users

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

ReadOnly
True

GPS2_CAN_OVRIDE: DroneCAN GPS NODE ID

Note: This parameter is for advanced users

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

GPS2_MB_ Parameters

GPS2_MB_TYPE: Moving base type

Note: This parameter is for advanced users

Note: Reboot required after change

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

Values
Value Meaning 0 Relative to alternate GPS instance 1 RelativeToCustomBase

GPS2_MB_OFS_X: Base antenna X position offset

Note: This parameter is for advanced users

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Increment	Range	Units
0.01	-5 to 5	meters

GPS2_MB_OFS_Y: Base antenna Y position offset

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Increment	Range	Units
0.01	-5 to 5	meters

GPS2_MB_OFS_Z: Base antenna Z position offset

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB1_ Parameters

GPS_MB1_TYPE: Moving base type

Note: This parameter is for advanced users

Note: Reboot required after change

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

Values
Value Meaning 0 Relative to alternate GPS instance 1 RelativeToCustomBase

GPS_MB1_OFS_X: Base antenna X position offset

Note: This parameter is for advanced users

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB1_OFS_Y: Base antenna Y position offset

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB1_OFS_Z: Base antenna Z position offset

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB2_ Parameters

GPS_MB2_TYPE: Moving base type

Note: This parameter is for advanced users

Note: Reboot required after change

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

Values
Value Meaning 0 Relative to alternate GPS instance 1 RelativeToCustomBase

GPS_MB2_OFS_X: Base antenna X position offset

Note: This parameter is for advanced users

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB2_OFS_Y: Base antenna Y position offset

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB2_OFS_Z: Base antenna Z position offset

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

Increment	Range	Units
0.01	-5 to 5	meters

GRIP_ Parameters

GRIP_ENABLE: Gripper Enable/Disable

Gripper enable/disable

Values
Value Meaning 0 Disabled 1 Enabled

GRIP_TYPE: Gripper Type

Gripper enable/disable

Values
Value Meaning 0 None 1 Servo 2 EPM

GRIP_GRAB: Gripper Grab PWM

Note: This parameter is for advanced users

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

Range	Units
1000 to 2000	PWM in microseconds

GRIP_RELEASE: Gripper Release PWM

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

Range	Units
1000 to 2000	PWM in microseconds

GRIP_NEUTRAL: Neutral PWM

Note: This parameter is for advanced users

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

Range	Units
1000 to 2000	PWM in microseconds

GRIP_REGRAB: EPM Gripper Regrab interval

Note: This parameter is for advanced users

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

Range	Units
0 to 255	seconds

GRIP_CAN_ID: EPM UAVCAN Hardpoint ID

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

Range
0 to 255

GRIP_AUTOCLOSE: Gripper Autoclose time

Note: This parameter is for advanced users

Time in seconds that gripper close the gripper after opening; 0 to disable

Range	Units
0.25 to 255	seconds

INS Parameters

INS_GYROFFS_X: Gyro offsets of X axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYROFFS_Y: Gyro offsets of Y axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYROFFS_Z: Gyro offsets of Z axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYR2OFFS_X: Gyro2 offsets of X axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYR2OFFS_Y: Gyro2 offsets of Y axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYR2OFFS_Z: Gyro2 offsets of Z axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYR3OFFS_X: Gyro3 offsets of X axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYR3OFFS_Y: Gyro3 offsets of Y axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYR3OFFS_Z: Gyro3 offsets of Z axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_ACCSCAL_X: Accelerometer scaling of X axis

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACCSCAL_Y: Accelerometer scaling of Y axis

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACCSCAL_Z: Accelerometer scaling of Z axis

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACCOFFS_X: Accelerometer offsets of X axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACCOFFS_Y: Accelerometer offsets of Y axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACCOFFS_Z: Accelerometer offsets of Z axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACC2SCAL_X: Accelerometer2 scaling of X axis

Note: This parameter is for advanced users

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACC2OFFS_X: Accelerometer2 offsets of X axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACC3SCAL_X: Accelerometer3 scaling of X axis

Note: This parameter is for advanced users

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACC3OFFS_X: Accelerometer3 offsets of X axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_GYRO_FILTER: Gyro filter cutoff frequency

Note: This parameter is for advanced users

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

Range	Units
0 to 256	hertz

INS_ACCEL_FILTER: Accel filter cutoff frequency

Note: This parameter is for advanced users

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

Range	Units
0 to 256	hertz

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

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

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

Note: This parameter is for advanced users

Use second IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

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

Note: This parameter is for advanced users

Use third IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

INS_STILL_THRESH: Stillness threshold for detecting if we are moving

Note: This parameter is for advanced users

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

Range
0.05 to 50

INS_GYR_CAL: Gyro Calibration scheme

Note: This parameter is for advanced users

Conrols when automatic gyro calibration is performed

Values
Value Meaning 0 Never 1 Start-up only

INS_TRIM_OPTION: Accel cal trim option

Note: This parameter is for advanced users

Specifies how the accel cal routine determines the trims

Values
Value Meaning 0 Don’t adjust the trims 1 Assume first orientation was level 2 Assume ACC_BODYFIX is perfectly aligned to the vehicle

INS_ACC_BODYFIX: Body-fixed accelerometer

Note: This parameter is for advanced users

The body-fixed accelerometer to be used for trim calculation

Values
Value Meaning 1 IMU 1 2 IMU 2 3 IMU 3

INS_POS1_X: IMU accelerometer X position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS1_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS1_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS2_X: IMU accelerometer X position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS2_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS2_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS3_X: IMU accelerometer X position

Note: This parameter is for advanced users

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

Range	Units
-10 to 10	meters

INS_POS3_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS3_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS_GYR_ID: Gyro ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_GYR2_ID: Gyro2 ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_GYR3_ID: Gyro3 ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC_ID: Accelerometer ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC2_ID: Accelerometer2 ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC3_ID: Accelerometer3 ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_FAST_SAMPLE: Fast sampling mask

Note: This parameter is for advanced users

Mask of IMUs to enable fast sampling on, if available

Bitmask
Bit Meaning 0 FirstIMU 1 SecondIMU 2 ThirdIMU

INS_ENABLE_MASK: IMU enable mask

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 FirstIMU 1 SecondIMU 2 ThirdIMU 3 FourthIMU 4 FifthIMU 5 SixthIMU 6 SeventhIMU

INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 1kHz 1 2kHz 2 4kHz 3 8kHz

INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer

Note: This parameter is for advanced users

Temperature that the 1st accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope

Note: This parameter is for advanced users

Temperature that the 1st gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer

Note: This parameter is for advanced users

Temperature that the 2nd accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope

Note: This parameter is for advanced users

Temperature that the 2nd gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer

Note: This parameter is for advanced users

Temperature that the 3rd accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope

Note: This parameter is for advanced users

Temperature that the 3rd gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS_TCAL_OPTIONS: Options for temperature calibration

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 PersistTemps 1 PersistAccels

INS_RAW_LOG_OPT: Raw logging options

Note: This parameter is for advanced users

Raw logging options bitmask

Bitmask
Bit Meaning 0 Log primary gyro only 1 Log all gyros 2 Post filter 3 Pre and post filter

INS4_ Parameters

INS4_USE: Use first IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

INS4_ACC_ID: Accelerometer ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS4_ACCSCAL_X: Accelerometer scaling of X axis

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS4_ACCSCAL_Y: Accelerometer scaling of Y axis

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS4_ACCSCAL_Z: Accelerometer scaling of Z axis

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS4_ACCOFFS_X: Accelerometer offsets of X axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS4_ACCOFFS_Y: Accelerometer offsets of Y axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS4_ACCOFFS_Z: Accelerometer offsets of Z axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS4_POS_X: IMU accelerometer X position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS4_POS_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS4_POS_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS4_ACC_CALTEMP: Calibration temperature for accelerometer

Note: This parameter is for advanced users

Temperature that the accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS4_GYR_ID: Gyro ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS4_GYROFFS_X: Gyro offsets of X axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS4_GYROFFS_Y: Gyro offsets of Y axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS4_GYROFFS_Z: Gyro offsets of Z axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS4_GYR_CALTEMP: Calibration temperature for gyroscope

Note: This parameter is for advanced users

Temperature that the gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS4_TCAL_ Parameters

INS4_TCAL_ENABLE: Enable temperature calibration

Note: This parameter is for advanced users

Note: Reboot required after change

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

Values
Value Meaning 0 Disabled 1 Enabled 2 LearnCalibration

INS4_TCAL_TMIN: Temperature calibration min

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS4_TCAL_TMAX: Temperature calibration max

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS4_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS5_ Parameters

INS5_USE: Use first IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

INS5_ACC_ID: Accelerometer ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS5_ACCSCAL_X: Accelerometer scaling of X axis

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS5_ACCSCAL_Y: Accelerometer scaling of Y axis

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS5_ACCSCAL_Z: Accelerometer scaling of Z axis

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS5_ACCOFFS_X: Accelerometer offsets of X axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS5_ACCOFFS_Y: Accelerometer offsets of Y axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS5_ACCOFFS_Z: Accelerometer offsets of Z axis

Note: This parameter is for advanced users

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

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS5_POS_X: IMU accelerometer X position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS5_POS_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS5_POS_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

INS5_ACC_CALTEMP: Calibration temperature for accelerometer

Note: This parameter is for advanced users

Temperature that the accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS5_GYR_ID: Gyro ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS5_GYROFFS_X: Gyro offsets of X axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS5_GYROFFS_Y: Gyro offsets of Y axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS5_GYROFFS_Z: Gyro offsets of Z axis

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS5_GYR_CALTEMP: Calibration temperature for gyroscope

Note: This parameter is for advanced users

Temperature that the gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS5_TCAL_ Parameters

INS5_TCAL_ENABLE: Enable temperature calibration

Note: This parameter is for advanced users

Note: Reboot required after change

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

Values
Value Meaning 0 Disabled 1 Enabled 2 LearnCalibration

INS5_TCAL_TMIN: Temperature calibration min

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS5_TCAL_TMAX: Temperature calibration max

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS5_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_HNTC2_ Parameters

INS_HNTC2_ENABLE: Harmonic Notch Filter enable

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values
Value Meaning 0 Disabled 1 Enabled

INS_HNTC2_FREQ: Harmonic Notch Filter base frequency

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Range	Units
10 to 495	hertz

INS_HNTC2_BW: Harmonic Notch Filter bandwidth

Note: This parameter is for advanced users

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

Range	Units
5 to 250	hertz

INS_HNTC2_ATT: Harmonic Notch Filter attenuation

Note: This parameter is for advanced users

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

Range	Units
5 to 50	decibel

INS_HNTC2_HMNCS: Harmonic Notch Filter harmonics

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 1st harmonic 1 2nd harmonic 2 3rd harmonic 3 4th harmonic 4 5th harmonic 5 6th harmonic 6 7th harmonic 7 8th harmonic 8 9th harmonic 9 10th harmonic 10 11th harmonic 11 12th harmonic 12 13th harmonic 13 14th harmonic 14 15th harmonic 15 16th harmonic

INS_HNTC2_REF: Harmonic Notch Filter reference value

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0.0 to 1.0

INS_HNTC2_MODE: Harmonic Notch Filter dynamic frequency tracking mode

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Range	Values
0 to 5	Value Meaning 0 Fixed 1 Throttle 2 RPM Sensor 3 ESC Telemetry 4 Dynamic FFT 5 Second RPM Sensor

INS_HNTC2_OPTS: Harmonic Notch Filter options

Note: This parameter is for advanced users

Note: Reboot required after change

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

Bitmask
Bit Meaning 0 Double notch 1 Multi-Source 2 Update at loop rate 3 EnableOnAllIMUs 4 Triple notch 5 Use min freq on RPM source failure

INS_HNTC2_FM_RAT: Throttle notch min frequency ratio

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

Range
0.1 to 1.0

INS_HNTC3_ Parameters

INS_HNTC3_ENABLE: Harmonic Notch Filter enable

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values
Value Meaning 0 Disabled 1 Enabled

INS_HNTC3_FREQ: Harmonic Notch Filter base frequency

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Range	Units
10 to 495	hertz

INS_HNTC3_BW: Harmonic Notch Filter bandwidth

Note: This parameter is for advanced users

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

Range	Units
5 to 250	hertz

INS_HNTC3_ATT: Harmonic Notch Filter attenuation

Note: This parameter is for advanced users

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

Range	Units
5 to 50	decibel

INS_HNTC3_HMNCS: Harmonic Notch Filter harmonics

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 1st harmonic 1 2nd harmonic 2 3rd harmonic 3 4th harmonic 4 5th harmonic 5 6th harmonic 6 7th harmonic 7 8th harmonic 8 9th harmonic 9 10th harmonic 10 11th harmonic 11 12th harmonic 12 13th harmonic 13 14th harmonic 14 15th harmonic 15 16th harmonic

INS_HNTC3_REF: Harmonic Notch Filter reference value

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0.0 to 1.0

INS_HNTC3_MODE: Harmonic Notch Filter dynamic frequency tracking mode

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Range	Values
0 to 5	Value Meaning 0 Fixed 1 Throttle 2 RPM Sensor 3 ESC Telemetry 4 Dynamic FFT 5 Second RPM Sensor

INS_HNTC3_OPTS: Harmonic Notch Filter options

Note: This parameter is for advanced users

Note: Reboot required after change

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

Bitmask
Bit Meaning 0 Double notch 1 Multi-Source 2 Update at loop rate 3 EnableOnAllIMUs 4 Triple notch 5 Use min freq on RPM source failure

INS_HNTC3_FM_RAT: Throttle notch min frequency ratio

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

Range
0.1 to 1.0

INS_HNTC4_ Parameters

INS_HNTC4_ENABLE: Harmonic Notch Filter enable

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values
Value Meaning 0 Disabled 1 Enabled

INS_HNTC4_FREQ: Harmonic Notch Filter base frequency

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Range	Units
10 to 495	hertz

INS_HNTC4_BW: Harmonic Notch Filter bandwidth

Note: This parameter is for advanced users

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

Range	Units
5 to 250	hertz

INS_HNTC4_ATT: Harmonic Notch Filter attenuation

Note: This parameter is for advanced users

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

Range	Units
5 to 50	decibel

INS_HNTC4_HMNCS: Harmonic Notch Filter harmonics

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 1st harmonic 1 2nd harmonic 2 3rd harmonic 3 4th harmonic 4 5th harmonic 5 6th harmonic 6 7th harmonic 7 8th harmonic 8 9th harmonic 9 10th harmonic 10 11th harmonic 11 12th harmonic 12 13th harmonic 13 14th harmonic 14 15th harmonic 15 16th harmonic

INS_HNTC4_REF: Harmonic Notch Filter reference value

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0.0 to 1.0

INS_HNTC4_MODE: Harmonic Notch Filter dynamic frequency tracking mode

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Range	Values
0 to 5	Value Meaning 0 Fixed 1 Throttle 2 RPM Sensor 3 ESC Telemetry 4 Dynamic FFT 5 Second RPM Sensor

INS_HNTC4_OPTS: Harmonic Notch Filter options

Note: This parameter is for advanced users

Note: Reboot required after change

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

Bitmask
Bit Meaning 0 Double notch 1 Multi-Source 2 Update at loop rate 3 EnableOnAllIMUs 4 Triple notch 5 Use min freq on RPM source failure

INS_HNTC4_FM_RAT: Throttle notch min frequency ratio

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

Range
0.1 to 1.0

INS_HNTCH_ Parameters

INS_HNTCH_ENABLE: Harmonic Notch Filter enable

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values
Value Meaning 0 Disabled 1 Enabled

INS_HNTCH_FREQ: Harmonic Notch Filter base frequency

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Range	Units
10 to 495	hertz

INS_HNTCH_BW: Harmonic Notch Filter bandwidth

Note: This parameter is for advanced users

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

Range	Units
5 to 250	hertz

INS_HNTCH_ATT: Harmonic Notch Filter attenuation

Note: This parameter is for advanced users

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

Range	Units
5 to 50	decibel

INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 1st harmonic 1 2nd harmonic 2 3rd harmonic 3 4th harmonic 4 5th harmonic 5 6th harmonic 6 7th harmonic 7 8th harmonic 8 9th harmonic 9 10th harmonic 10 11th harmonic 11 12th harmonic 12 13th harmonic 13 14th harmonic 14 15th harmonic 15 16th harmonic

INS_HNTCH_REF: Harmonic Notch Filter reference value

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
0.0 to 1.0

INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Range	Values
0 to 5	Value Meaning 0 Fixed 1 Throttle 2 RPM Sensor 3 ESC Telemetry 4 Dynamic FFT 5 Second RPM Sensor

INS_HNTCH_OPTS: Harmonic Notch Filter options

Note: This parameter is for advanced users

Note: Reboot required after change

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

Bitmask
Bit Meaning 0 Double notch 1 Multi-Source 2 Update at loop rate 3 EnableOnAllIMUs 4 Triple notch 5 Use min freq on RPM source failure

INS_HNTCH_FM_RAT: Throttle notch min frequency ratio

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

Range
0.1 to 1.0

INS_LOG_ Parameters

INS_LOG_BAT_CNT: sample count per batch

Note: This parameter is for advanced users

Note: Reboot required after change

Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.

Increment
32

INS_LOG_BAT_MASK: Sensor Bitmask

Note: This parameter is for advanced users

Note: Reboot required after change

Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.

Bitmask
Bit Meaning 0 IMU1 1 IMU2 2 IMU3

INS_LOG_BAT_OPT: Batch Logging Options Mask

Note: This parameter is for advanced users

Options for the BatchSampler.

Bitmask
Bit Meaning 0 Sensor-Rate Logging (sample at full sensor rate seen by AP) 1 Sample post-filtering 2 Sample pre- and post-filter

INS_LOG_BAT_LGIN: logging interval

Interval between pushing samples to the AP_Logger log

Increment	Units
10	milliseconds

INS_LOG_BAT_LGCT: logging count

Number of samples to push to count every INS_LOG_BAT_LGIN

Increment
1

INS_TCAL1_ Parameters

INS_TCAL1_ENABLE: Enable temperature calibration

Note: This parameter is for advanced users

Note: Reboot required after change

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

Values
Value Meaning 0 Disabled 1 Enabled 2 LearnCalibration

INS_TCAL1_TMIN: Temperature calibration min

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS_TCAL1_TMAX: Temperature calibration max

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ Parameters

INS_TCAL2_ENABLE: Enable temperature calibration

Note: This parameter is for advanced users

Note: Reboot required after change

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

Values
Value Meaning 0 Disabled 1 Enabled 2 LearnCalibration

INS_TCAL2_TMIN: Temperature calibration min

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS_TCAL2_TMAX: Temperature calibration max

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ Parameters

INS_TCAL3_ENABLE: Enable temperature calibration

Note: This parameter is for advanced users

Note: Reboot required after change

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

Values
Value Meaning 0 Disabled 1 Enabled 2 LearnCalibration

INS_TCAL3_TMIN: Temperature calibration min

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS_TCAL3_TMAX: Temperature calibration max

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

KDE_ Parameters

KDE_NPOLE: Number of motor poles

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

LOG Parameters

LOG_BACKEND_TYPE: AP_Logger Backend Storage type

Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.

Bitmask
Bit Meaning 0 File 1 MAVLink 2 Block

LOG_FILE_BUFSIZE: Logging File and Block Backend buffer size max (in kibibytes)

The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging but increases memory usage. This buffer size may be reduced to free up available memory

Range	Units
4 to 200	kibibytes

LOG_DISARMED: Enable logging while disarmed

If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.

Values
Value Meaning 0 Disabled 1 Enabled 2 Disabled on USB connection 3 Discard log on reboot if never armed

LOG_REPLAY: Enable logging of information needed for Replay

If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.

Values
Value Meaning 0 Disabled 1 Enabled

LOG_FILE_DSRMROT: Stop logging to current file on disarm

When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.

Values
Value Meaning 0 Disabled 1 Enabled

LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size

Note: This parameter is for advanced users

Maximum amount of memory to allocate to AP_Logger-over-mavlink

Units
kilobytes

LOG_FILE_TIMEOUT: Timeout before giving up on file writes

This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.

Units
seconds

LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space

Set this such that the free space is larger than your largest typical flight log

Range	Units
2 to 1000	megabyte

LOG_FILE_RATEMAX: Maximum logging rate for file backend

This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.

Increment	Range	Units
0.1	0 to 1000	hertz

LOG_MAV_RATEMAX: Maximum logging rate for mavlink backend

This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.

Increment	Range	Units
0.1	0 to 1000	hertz

LOG_BLK_RATEMAX: Maximum logging rate for block backend

This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled.

Increment	Range	Units
0.1	0 to 1000	hertz

LOG_DARM_RATEMAX: Maximum logging rate when disarmed

This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied.

Increment	Range	Units
0.1	0 to 1000	hertz

LOG_MAX_FILES: Maximum number of log files

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs.

Increment	Range
1	2 to 500

MAV Parameters

MAV_SYSID: MAVLink system ID of this vehicle

Note: This parameter is for advanced users

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

Range
1 to 255

MAV_GCS_SYSID: My ground station number

Note: This parameter is for advanced users

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

Increment	Range
1	1 to 255

MAV_OPTIONS: MAVLink Options

Note: This parameter is for advanced users

Alters various behaviour of the MAVLink interface

Bitmask
Bit Meaning 0 Accept MAVLink only from SYSID_GCS

MAV_TELEM_DELAY: Telemetry startup delay

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 30	seconds

MAV1 Parameters

MAV1_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV1_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV1_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV1_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV1_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV1_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV1_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV1_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV1_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV1_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV1_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV10 Parameters

MAV10_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV10_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV10_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV10_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV10_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV10_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV10_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV10_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV10_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV10_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV10_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV2 Parameters

MAV2_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV2_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV2_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV2_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV2_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV2_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV2_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV2_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV2_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV2_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV2_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV3 Parameters

MAV3_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV3_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV3_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV3_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV3_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV3_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV3_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV3_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV3_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV3_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV3_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV4 Parameters

MAV4_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV4_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV4_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV4_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV4_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV4_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV4_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV4_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV4_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV4_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV4_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV5 Parameters

MAV5_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV5_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV5_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV5_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV5_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV5_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV5_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV5_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV5_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV5_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV5_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV6 Parameters

MAV6_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV6_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV6_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV6_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV6_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV6_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV6_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV6_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV6_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV6_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV6_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV7 Parameters

MAV7_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV7_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV7_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV7_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV7_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV7_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV7_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV7_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV7_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV7_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV7_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV8 Parameters

MAV8_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV8_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV8_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV8_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV8_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV8_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV8_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV8_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV8_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV8_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV8_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV9 Parameters

MAV9_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV9_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV9_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV9_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV9_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV9_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV9_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV9_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV9_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV9_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV9_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MIS_ Parameters

MIS_TOTAL: Total mission commands

Note: This parameter is for advanced users

The number of mission mission items that has been loaded by the ground station. Do not change this manually.

Increment	Range	ReadOnly
1	0 to 32766	True

MIS_RESTART: Mission Restart when entering Auto mode

Note: This parameter is for advanced users

Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)

Values
Value Meaning 0 Resume Mission 1 Restart Mission

MIS_OPTIONS: Mission options bitmask

Note: This parameter is for advanced users

Bitmask of what options to use in missions. If the DontZeroCounter counter option is set than on completion of a jump loop the counter is left at zero, so the jump will not happen again if the loop is re-entered.

Bitmask
Bit Meaning 0 Clear Mission on reboot

MNT1 Parameters

MNT1_TYPE: Mount Type

Note: Reboot required after change

Mount Type

Values
Value Meaning 0 None 1 Servo 2 3DR Solo 3 Alexmos Serial 4 SToRM32 MAVLink 5 SToRM32 Serial 6 Gremsy 7 BrushlessPWM 8 Siyi 9 Scripting 10 Xacti 11 Viewpro 12 Topotek 13 CADDX 14 XFRobot

MNT1_DEFLT_MODE: Mount default operating mode

Mount default operating mode on startup and after control is returned from autopilot

Values
Value Meaning 0 Retracted 1 Neutral 2 MavLink Targeting 3 RC Targeting 4 GPS Point 5 SysID Target 6 Home Location

MNT1_RC_RATE: Mount RC Rate

Pilot rate control's maximum rate. Set to zero to use angle control

Increment	Range	Units
1	0 to 90	degrees per second

MNT1_ROLL_MIN: Mount Roll angle minimum

Mount Roll angle minimum

Increment	Range	Units
1	-180 to 180	degrees

MNT1_ROLL_MAX: Mount Roll angle maximum

Mount Roll angle maximum

Increment	Range	Units
1	-180 to 180	degrees

MNT1_PITCH_MIN: Mount Pitch angle minimum

Mount Pitch angle minimum

Increment	Range	Units
1	-90 to 90	degrees

MNT1_PITCH_MAX: Mount Pitch angle maximum

Mount Pitch angle maximum

Increment	Range	Units
1	-90 to 90	degrees

MNT1_YAW_MIN: Mount Yaw angle minimum

Mount Yaw angle minimum

Increment	Range	Units
1	-180 to 180	degrees

MNT1_YAW_MAX: Mount Yaw angle maximum

Mount Yaw angle maximum

Increment	Range	Units
1	-180 to 180	degrees

MNT1_RETRACT_X: Mount roll angle when in retracted position

Mount roll angle when in retracted position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT1_RETRACT_Y: Mount pitch angle when in retracted position

Mount pitch angle when in retracted position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT1_RETRACT_Z: Mount yaw angle when in retracted position

Mount yaw angle when in retracted position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT1_NEUTRAL_X: Mount roll angle when in neutral position

Mount roll angle when in neutral position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT1_NEUTRAL_Y: Mount pitch angle when in neutral position

Mount pitch angle when in neutral position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT1_NEUTRAL_Z: Mount yaw angle when in neutral position

Mount yaw angle when in neutral position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT1_LEAD_RLL: Mount Roll stabilization lead time

Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot

Increment	Range	Units
0.005	0.0 to 0.2	seconds

MNT1_LEAD_PTCH: Mount Pitch stabilization lead time

Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot

Increment	Range	Units
0.005	0.0 to 0.2	seconds

MNT1_SYSID_DFLT: Mount Target sysID

Note: Reboot required after change

Default Target sysID for the mount to point to

MNT1_DEVID: Mount Device ID

Note: This parameter is for advanced users

Mount device ID, taking into account its type, bus and instance

MNT1_OPTIONS: Mount options

Mount options bitmask

Bitmask
Bit Meaning 0 RC lock state from previous mode 1 Return to neutral angles on RC failsafe

MNT2 Parameters

MNT2_TYPE: Mount Type

Note: Reboot required after change

Mount Type

Values
Value Meaning 0 None 1 Servo 2 3DR Solo 3 Alexmos Serial 4 SToRM32 MAVLink 5 SToRM32 Serial 6 Gremsy 7 BrushlessPWM 8 Siyi 9 Scripting 10 Xacti 11 Viewpro 12 Topotek 13 CADDX 14 XFRobot

MNT2_DEFLT_MODE: Mount default operating mode

Mount default operating mode on startup and after control is returned from autopilot

Values
Value Meaning 0 Retracted 1 Neutral 2 MavLink Targeting 3 RC Targeting 4 GPS Point 5 SysID Target 6 Home Location

MNT2_RC_RATE: Mount RC Rate

Pilot rate control's maximum rate. Set to zero to use angle control

Increment	Range	Units
1	0 to 90	degrees per second

MNT2_ROLL_MIN: Mount Roll angle minimum

Mount Roll angle minimum

Increment	Range	Units
1	-180 to 180	degrees

MNT2_ROLL_MAX: Mount Roll angle maximum

Mount Roll angle maximum

Increment	Range	Units
1	-180 to 180	degrees

MNT2_PITCH_MIN: Mount Pitch angle minimum

Mount Pitch angle minimum

Increment	Range	Units
1	-90 to 90	degrees

MNT2_PITCH_MAX: Mount Pitch angle maximum

Mount Pitch angle maximum

Increment	Range	Units
1	-90 to 90	degrees

MNT2_YAW_MIN: Mount Yaw angle minimum

Mount Yaw angle minimum

Increment	Range	Units
1	-180 to 180	degrees

MNT2_YAW_MAX: Mount Yaw angle maximum

Mount Yaw angle maximum

Increment	Range	Units
1	-180 to 180	degrees

MNT2_RETRACT_X: Mount roll angle when in retracted position

Mount roll angle when in retracted position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT2_RETRACT_Y: Mount pitch angle when in retracted position

Mount pitch angle when in retracted position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT2_RETRACT_Z: Mount yaw angle when in retracted position

Mount yaw angle when in retracted position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT2_NEUTRAL_X: Mount roll angle when in neutral position

Mount roll angle when in neutral position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT2_NEUTRAL_Y: Mount pitch angle when in neutral position

Mount pitch angle when in neutral position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT2_NEUTRAL_Z: Mount yaw angle when in neutral position

Mount yaw angle when in neutral position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT2_LEAD_RLL: Mount Roll stabilization lead time

Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot

Increment	Range	Units
0.005	0.0 to 0.2	seconds

MNT2_LEAD_PTCH: Mount Pitch stabilization lead time

Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot

Increment	Range	Units
0.005	0.0 to 0.2	seconds

MNT2_SYSID_DFLT: Mount Target sysID

Note: Reboot required after change

Default Target sysID for the mount to point to

MNT2_DEVID: Mount Device ID

Note: This parameter is for advanced users

Mount device ID, taking into account its type, bus and instance

MNT2_OPTIONS: Mount options

Mount options bitmask

Bitmask
Bit Meaning 0 RC lock state from previous mode 1 Return to neutral angles on RC failsafe

MOT_ Parameters

MOT_PWM_TYPE: Motor Output PWM type

Note: This parameter is for advanced users

Note: Reboot required after change

This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cycle)

Values
Value Meaning 0 Normal 1 OneShot 2 OneShot125 3 BrushedWithRelay 4 BrushedBiPolar 5 DShot150 6 DShot300 7 DShot600 8 DShot1200

MOT_PWM_FREQ: Motor Output PWM freq for brushed motors

Note: This parameter is for advanced users

Note: Reboot required after change

Motor Output PWM freq for brushed motors

Increment	Range	Units
1	1 to 20	kilohertz

MOT_SAFE_DISARM: Motor PWM output disabled when disarmed

Note: This parameter is for advanced users

Disables motor PWM output when disarmed

Values
Value Meaning 0 PWM enabled while disarmed 1 PWM disabled while disarmed

MOT_THR_MIN: Throttle minimum

Throttle minimum percentage the autopilot will apply. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions.

Increment	Range	Units
1	0 to 20	percent

MOT_THR_MAX: Throttle maximum

Throttle maximum percentage the autopilot will apply. This can be used to prevent overheating an ESC or motor on an electric rover

Increment	Range	Units
1	30 to 100	percent

MOT_SLEWRATE: Throttle slew rate

Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second. A value of zero disables the limit. Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts.

Increment	Range	Units
1	0 to 1000	percent per second

MOT_THST_EXPO: Thrust Curve Expo

Note: This parameter is for advanced users

Thrust curve exponent (-1 to +1 with 0 being linear)

Range
-1.0 to 1.0

MOT_SPD_SCA_BASE: Motor speed scaling base speed

Note: This parameter is for advanced users

Speed above which steering is scaled down when using regular steering/throttle vehicles. zero to disable speed scaling

Range	Units
0 to 10	meters per second

MOT_STR_THR_MIX: Motor steering vs throttle prioritisation

Note: This parameter is for advanced users

Steering vs Throttle priorisation. Higher numbers prioritise steering, lower numbers prioritise throttle. Only valid for Skid Steering vehicles

Range
0.2 to 1.0

MOT_VEC_ANGLEMAX: Vector thrust angle max

The angle between steering's middle position and maximum position when using vectored thrust (boats only)

Range	Units
0 to 90	degrees

MOT_THST_ASYM: Motor Thrust Asymmetry

Note: This parameter is for advanced users

Thrust Asymmetry. Used for skid-steering. 2.0 means your motors move twice as fast forward than they do backwards.

Range
1.0 to 10.0

MOT_REV_DELAY: Motor reversal delay

For reversible motors that need a delay before they can change direction. When greater than zero the throttle will go to zero for this amount of time before outputting the new throttle when the demanded motor direction changes.

Increment	Range	Units
0.1	0.1 to 1.0	seconds

MSP Parameters

MSP_OSD_NCELLS: Cell count override

Used for average cell voltage calculation

Values
Value Meaning 0 Auto 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14

MSP_OPTIONS: MSP OSD Options

A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts. EnableINAVFonts uses INAV fonts and overrides EnableBTFLFonts if that option is enabled.

Bitmask
Bit Meaning 0 EnableTelemetryMode 1 unused 2 EnableBTFLFonts 3 EnableINAVFonts

NET_ Parameters

NET_ENABLE: Networking Enable

Note: This parameter is for advanced users

Note: Reboot required after change

Networking Enable

Values
Value Meaning 0 Disable 1 Enable

NET_NETMASK: IP Subnet mask

Note: This parameter is for advanced users

Note: Reboot required after change

Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0

Range
0 to 32

NET_DHCP: DHCP client

Note: This parameter is for advanced users

Note: Reboot required after change

Enable/Disable DHCP client

Values
Value Meaning 0 Disable 1 Enable

NET_TESTS: Test enable flags

Note: This parameter is for advanced users

Note: Reboot required after change

Enable/Disable networking tests

Bitmask
Bit Meaning 0 UDP echo test 1 TCP echo test 2 TCP discard test 3 TCP reflect test

NET_OPTIONS: Networking options

Note: This parameter is for advanced users

Note: Reboot required after change

Networking options

Bitmask
Bit Meaning 0 EnablePPP Ethernet gateway 1 Enable CAN1 multicast endpoint 2 Enable CAN2 multicast endpoint 3 Enable CAN1 multicast bridged 4 Enable CAN2 multicast bridged 5 DisablePPPTimeout 6 DisablePPPEchoLimit

NET_GWADDR Parameters

NET_GWADDR0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_GWADDR1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_GWADDR2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_GWADDR3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_IPADDR Parameters

NET_IPADDR0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_IPADDR1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_IPADDR2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_IPADDR3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_MACADDR Parameters

NET_MACADDR0: MAC Address 1st byte

Note: This parameter is for advanced users

Note: Reboot required after change

MAC address 1st byte

Range
0 to 255

NET_MACADDR1: MAC Address 2nd byte

Note: This parameter is for advanced users

Note: Reboot required after change

MAC address 2nd byte

Range
0 to 255

NET_MACADDR2: MAC Address 3rd byte

Note: This parameter is for advanced users

Note: Reboot required after change

MAC address 3rd byte

Range
0 to 255

NET_MACADDR3: MAC Address 4th byte

Note: This parameter is for advanced users

Note: Reboot required after change

MAC address 4th byte

Range
0 to 255

NET_MACADDR4: MAC Address 5th byte

Note: This parameter is for advanced users

Note: Reboot required after change

MAC address 5th byte

Range
0 to 255

NET_MACADDR5: MAC Address 6th byte

Note: This parameter is for advanced users

Note: Reboot required after change

MAC address 6th byte

Range
0 to 255

NET_P1_ Parameters

NET_P1_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P1_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P1_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P1_IP Parameters

NET_P1_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P1_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P1_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P1_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P2_ Parameters

NET_P2_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P2_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P2_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P2_IP Parameters

NET_P2_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P2_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P2_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P2_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P3_ Parameters

NET_P3_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P3_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P3_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P3_IP Parameters

NET_P3_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P3_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P3_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P3_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P4_ Parameters

NET_P4_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P4_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P4_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P4_IP Parameters

NET_P4_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P4_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P4_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P4_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_REMPPP_IP Parameters

NET_REMPPP_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_REMPPP_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_REMPPP_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_REMPPP_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_TEST_IP Parameters

NET_TEST_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_TEST_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_TEST_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_TEST_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NMEA_ Parameters

NMEA_RATE_MS: NMEA Output rate

NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.

Increment	Range	Units
1	20 to 2000	milliseconds

NMEA_MSG_EN: Messages Enable bitmask

This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval

Bitmask
Bit Meaning 0 GPGGA 1 GPRMC 2 PASHR

NTF_ Parameters

NTF_LED_BRIGHT: LED Brightness

Note: This parameter is for advanced users

Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.

Values
Value Meaning 0 Off 1 Low 2 Medium 3 High

NTF_BUZZ_TYPES: Buzzer Driver Types

Note: This parameter is for advanced users

Controls what types of Buzzer will be enabled

Bitmask
Bit Meaning 0 Built-in buzzer 1 DShot 2 DroneCAN

NTF_LED_OVERRIDE: Specifies colour source for the RGBLed

Note: This parameter is for advanced users

Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.

Values
Value Meaning 0 Standard 1 MAVLink/Scripting/AP_Periph 2 OutbackChallenge 3 TrafficLight

NTF_DISPLAY_TYPE: Type of on-board I2C display

Note: This parameter is for advanced users

This sets up the type of on-board I2C display. Disabled by default.

Values
Value Meaning 0 Disable 1 ssd1306 2 sh1106 10 SITL

NTF_OREO_THEME: OreoLED Theme

Note: This parameter is for advanced users

Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme

Values
Value Meaning 0 Disabled 1 Aircraft 2 Rover

NTF_BUZZ_PIN: Buzzer pin

Note: This parameter is for advanced users

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Disabled

NTF_LED_TYPES: LED Driver Types

Note: This parameter is for advanced users

Controls what types of LEDs will be enabled

Bitmask
Bit Meaning 0 Built-in LED 1 Internal ToshibaLED 2 External ToshibaLED 3 External PCA9685 4 Oreo LED 5 DroneCAN 6 NCP5623 External 7 NCP5623 Internal 8 NeoPixel 9 ProfiLED 10 Scripting 11 DShot 12 ProfiLED_SPI 13 LP5562 External 14 LP5562 Internal 15 IS31FL3195 External 16 IS31FL3195 Internal 17 DiscreteRGB 18 NeoPixelRGB 19 ProfiLED_IOMCU

NTF_BUZZ_ON_LVL: Buzzer-on pin logic level

Note: This parameter is for advanced users

Specifies pin level that indicates buzzer should play

Values
Value Meaning 0 LowIsOn 1 HighIsOn

NTF_BUZZ_VOLUME: Buzzer volume

Control the volume of the buzzer

Range	Units
0 to 100	percent

NTF_LED_LEN: Serial LED String Length

Note: This parameter is for advanced users

Note: Reboot required after change

The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)

Range
1 to 32

OA_ Parameters

OA_TYPE: Object Avoidance Path Planning algorithm to use

Enabled/disable path planning around obstacles

Values
Value Meaning 0 Disabled 1 BendyRuler 2 Dijkstra 3 Dijkstra with BendyRuler

OA_MARGIN_MAX: Object Avoidance wide margin distance

Object Avoidance will ignore objects more than this many meters from vehicle

Increment	Range	Units
1	0.1 to 100	meters

OA_OPTIONS: Options while recovering from Object Avoidance

Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).

Bitmask
Bit Meaning 0 Reset the origin of the waypoint to the present location 1 log Dijkstra points

OA_BR_ Parameters

OA_BR_LOOKAHEAD: Object Avoidance look ahead distance maximum

Object Avoidance will look this many meters ahead of vehicle

Increment	Range	Units
1	1 to 100	meters

OA_BR_CONT_RATIO: Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly

BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much.

Increment	Range
0.1	1.1 to 2

OA_BR_CONT_ANGLE: BendyRuler's bearing change resistance threshold angle

BendyRuler will resist changing current bearing if the change in bearing is over this angle

Increment	Range
5	20 to 180

OA_DB_ Parameters

OA_DB_SIZE: OADatabase maximum number of points

Note: This parameter is for advanced users

Note: Reboot required after change

OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process

Range
0 to 10000

OA_DB_EXPIRE: OADatabase item timeout

Note: This parameter is for advanced users

OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones.

Increment	Range	Units
1	0 to 500	seconds

OA_DB_QUEUE_SIZE: OADatabase queue maximum number of points

Note: This parameter is for advanced users

Note: Reboot required after change

OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data.

Range
1 to 200

OA_DB_OUTPUT: OADatabase output level

Note: This parameter is for advanced users

OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.

Values
Value Meaning 0 Disabled 1 Send only HIGH importance items 2 Send HIGH and NORMAL importance items 3 Send all items

OA_DB_BEAM_WIDTH: OADatabase beam width

Note: This parameter is for advanced users

Note: Reboot required after change

Beam width of incoming lidar data, used to calculate a object radius if none is provided by the data source.

Range	Units
1 to 10	degrees

OA_DB_RADIUS_MIN: OADatabase Minimum radius

Note: This parameter is for advanced users

Minimum radius of objects held in database

Range	Units
0 to 10	meters

OA_DB_DIST_MAX: OADatabase Distance Maximum

Note: This parameter is for advanced users

Maximum distance of objects held in database. Set to zero to disable the limits

Range	Units
0 to 10	meters

OSD Parameters

OSD_TYPE: OSD type

Note: Reboot required after change

OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.

Values
Value Meaning 0 None 1 MAX7456 2 SITL 3 MSP 4 TXONLY 5 MSP_DISPLAYPORT

OSD_CHAN: Screen switch transmitter channel

This sets the channel used to switch different OSD screens.

Values
Value Meaning 0 Disable 5 Chan5 6 Chan6 7 Chan7 8 Chan8 9 Chan9 10 Chan10 11 Chan11 12 Chan12 13 Chan13 14 Chan14 15 Chan15 16 Chan16

OSD_SW_METHOD: Screen switch method

This sets the method used to switch different OSD screens.

Values
Value Meaning 0 switch to next screen if channel value was changed 1 select screen based on pwm ranges specified for each screen 2 switch to next screen after low to high transition and every 1s while channel value is high

OSD_OPTIONS: OSD Options

This sets options that change the display

Bitmask
Bit Meaning 0 UseDecimalPack 1 InvertedWindArrow 2 InvertedAHRoll 3 Convert feet to miles at 5280ft instead of 10000ft 4 DisableCrosshair 5 TranslateArrows 6 AviationStyleAH 7 Prefix LQ with RF Mode

OSD_FONT: OSD Font

Note: Reboot required after change

This sets which OSD font to use. It is an integer from 0 to the number of fonts available

OSD_V_OFFSET: OSD vertical offset

Note: Reboot required after change

Sets vertical offset of the osd inside image

Range
0 to 31

OSD_H_OFFSET: OSD horizontal offset

Note: Reboot required after change

Sets horizontal offset of the osd inside image

Range
0 to 63

OSD_W_RSSI: RSSI warn level (in %)

Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults.

Range
-128 to 100

OSD_W_NSAT: NSAT warn level

Set level at which NSAT item will flash

Range
1 to 30

OSD_W_BATVOLT: BAT_VOLT warn level

Set level at which BAT_VOLT item will flash

Range
0 to 100

OSD_UNITS: Display Units

Sets the units to use in displaying items

Values
Value Meaning 0 Metric 1 Imperial 2 SI 3 Aviation

OSD_MSG_TIME: Message display duration in seconds

Sets message duration seconds

Range
1 to 20

OSD_ARM_SCR: Arm screen

Screen to be shown on Arm event. Zero to disable the feature.

Range
0 to 4

OSD_DSARM_SCR: Disarm screen

Screen to be shown on disarm event. Zero to disable the feature.

Range
0 to 4

OSD_FS_SCR: Failsafe screen

Screen to be shown on failsafe event. Zero to disable the feature.

Range
0 to 4

OSD_BTN_DELAY: Button delay

Note: This parameter is for advanced users

Debounce time in ms for stick commanded parameter navigation.

Range
0 to 3000

OSD_W_TERR: Terrain warn level

Set level below which TER_HGT item will flash. -1 disables.

Range	Units
-1 to 3000	meters

OSD_W_AVGCELLV: AVGCELLV warn level

Set level at which AVGCELLV item will flash

Range
0 to 100

OSD_CELL_COUNT: Battery cell count

Note: This parameter is for advanced users

Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.

Increment
1

OSD_W_RESTVOLT: RESTVOLT warn level

Set level at which RESTVOLT item will flash

Range
0 to 100

OSD_W_ACRVOLT: Avg Cell Resting Volt warn level

Set level at which ACRVOLT item will flash

Range
0 to 100

OSD_W_LQ: RC link quality warn level (in %)

Set level at which RC_LQ item will flash (%)

Range
0 to 100

OSD_W_SNR: RC link SNR warn level (in %)

Set level at which RC_SNR item will flash (in db)

Range
-20 to 10

OSD_SB_H_OFS: Sidebar horizontal offset

Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen.

Range
0 to 20

OSD_SB_V_EXT: Sidebar vertical extension

Increase of vertical length of the sidebar itens by this amount of lines. Applied equally both above and below the default setting.

Range
0 to 10

OSD_TYPE2: OSD type 2

Note: Reboot required after change

OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.

Values
Value Meaning 0 None 1 MAX7456 2 SITL 3 MSP 4 TXONLY 5 MSP_DISPLAYPORT

OSD1_ Parameters

OSD1_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 to 2100

OSD1_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 to 2100

OSD1_ALTITUDE_EN: ALTITUDE_EN

Enables display of altitude AGL

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ALTITUDE_X: ALTITUDE_X

Horizontal position on screen

Range
0 to 59

OSD1_ALTITUDE_Y: ALTITUDE_Y

Vertical position on screen

Range
0 to 21

OSD1_BAT_VOLT_EN: BATVOLT_EN

Displays main battery voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BAT_VOLT_X: BATVOLT_X

Horizontal position on screen

Range
0 to 59

OSD1_BAT_VOLT_Y: BATVOLT_Y

Vertical position on screen

Range
0 to 21

OSD1_RSSI_EN: RSSI_EN

Displays RC signal strength

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RSSI_X: RSSI_X

Horizontal position on screen

Range
0 to 59

OSD1_RSSI_Y: RSSI_Y

Vertical position on screen

Range
0 to 21

OSD1_CURRENT_EN: CURRENT_EN

Displays main battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CURRENT_X: CURRENT_X

Horizontal position on screen

Range
0 to 59

OSD1_CURRENT_Y: CURRENT_Y

Vertical position on screen

Range
0 to 21

OSD1_BATUSED_EN: BATUSED_EN

Displays primary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BATUSED_X: BATUSED_X

Horizontal position on screen

Range
0 to 59

OSD1_BATUSED_Y: BATUSED_Y

Vertical position on screen

Range
0 to 21

OSD1_SATS_EN: SATS_EN

Displays number of acquired satellites

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_SATS_X: SATS_X

Horizontal position on screen

Range
0 to 59

OSD1_SATS_Y: SATS_Y

Vertical position on screen

Range
0 to 21

OSD1_FLTMODE_EN: FLTMODE_EN

Displays flight mode

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_FLTMODE_X: FLTMODE_X

Horizontal position on screen

Range
0 to 59

OSD1_FLTMODE_Y: FLTMODE_Y

Vertical position on screen

Range
0 to 21

OSD1_MESSAGE_EN: MESSAGE_EN

Displays Mavlink messages

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_MESSAGE_X: MESSAGE_X

Horizontal position on screen

Range
0 to 59

OSD1_MESSAGE_Y: MESSAGE_Y

Vertical position on screen

Range
0 to 21

OSD1_GSPEED_EN: GSPEED_EN

Displays GPS ground speed

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_GSPEED_X: GSPEED_X

Horizontal position on screen

Range
0 to 59

OSD1_GSPEED_Y: GSPEED_Y

Vertical position on screen

Range
0 to 21

OSD1_HORIZON_EN: HORIZON_EN

Displays artificial horizon

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HORIZON_X: HORIZON_X

Horizontal position on screen

Range
0 to 59

OSD1_HORIZON_Y: HORIZON_Y

Vertical position on screen

Range
0 to 21

OSD1_HOME_EN: HOME_EN

Displays distance and relative direction to HOME

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HOME_X: HOME_X

Horizontal position on screen

Range
0 to 59

OSD1_HOME_Y: HOME_Y

Vertical position on screen

Range
0 to 21

OSD1_HEADING_EN: HEADING_EN

Displays heading

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HEADING_X: HEADING_X

Horizontal position on screen

Range
0 to 59

OSD1_HEADING_Y: HEADING_Y

Vertical position on screen

Range
0 to 21

OSD1_THROTTLE_EN: THROTTLE_EN

Displays actual throttle percentage being sent to motor(s)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_THROTTLE_X: THROTTLE_X

Horizontal position on screen

Range
0 to 59

OSD1_THROTTLE_Y: THROTTLE_Y

Vertical position on screen

Range
0 to 21

OSD1_COMPASS_EN: COMPASS_EN

Enables display of compass rose

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_COMPASS_X: COMPASS_X

Horizontal position on screen

Range
0 to 59

OSD1_COMPASS_Y: COMPASS_Y

Vertical position on screen

Range
0 to 21

OSD1_WIND_EN: WIND_EN

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_WIND_X: WIND_X

Horizontal position on screen

Range
0 to 59

OSD1_WIND_Y: WIND_Y

Vertical position on screen

Range
0 to 21

OSD1_ASPEED_EN: ASPEED_EN

Displays airspeed value being used by TECS (fused value)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ASPEED_X: ASPEED_X

Horizontal position on screen

Range
0 to 59

OSD1_ASPEED_Y: ASPEED_Y

Vertical position on screen

Range
0 to 21

OSD1_VSPEED_EN: VSPEED_EN

Displays climb rate

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_VSPEED_X: VSPEED_X

Horizontal position on screen

Range
0 to 59

OSD1_VSPEED_Y: VSPEED_Y

Vertical position on screen

Range
0 to 21

OSD1_ESCTEMP_EN: ESCTEMP_EN

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ESCTEMP_X: ESCTEMP_X

Horizontal position on screen

Range
0 to 59

OSD1_ESCTEMP_Y: ESCTEMP_Y

Vertical position on screen

Range
0 to 21

OSD1_ESCRPM_EN: ESCRPM_EN

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ESCRPM_X: ESCRPM_X

Horizontal position on screen

Range
0 to 59

OSD1_ESCRPM_Y: ESCRPM_Y

Vertical position on screen

Range
0 to 21

OSD1_ESCAMPS_EN: ESCAMPS_EN

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ESCAMPS_X: ESCAMPS_X

Horizontal position on screen

Range
0 to 59

OSD1_ESCAMPS_Y: ESCAMPS_Y

Vertical position on screen

Range
0 to 21

OSD1_GPSLAT_EN: GPSLAT_EN

Displays GPS latitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_GPSLAT_X: GPSLAT_X

Horizontal position on screen

Range
0 to 59

OSD1_GPSLAT_Y: GPSLAT_Y

Vertical position on screen

Range
0 to 21

OSD1_GPSLONG_EN: GPSLONG_EN

Displays GPS longitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_GPSLONG_X: GPSLONG_X

Horizontal position on screen

Range
0 to 59

OSD1_GPSLONG_Y: GPSLONG_Y

Vertical position on screen

Range
0 to 21

OSD1_ROLL_EN: ROLL_EN

Displays degrees of roll from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ROLL_X: ROLL_X

Horizontal position on screen

Range
0 to 59

OSD1_ROLL_Y: ROLL_Y

Vertical position on screen

Range
0 to 21

OSD1_PITCH_EN: PITCH_EN

Displays degrees of pitch from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_PITCH_X: PITCH_X

Horizontal position on screen

Range
0 to 59

OSD1_PITCH_Y: PITCH_Y

Vertical position on screen

Range
0 to 21

OSD1_TEMP_EN: TEMP_EN

Displays temperature reported by primary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_TEMP_X: TEMP_X

Horizontal position on screen

Range
0 to 59

OSD1_TEMP_Y: TEMP_Y

Vertical position on screen

Range
0 to 21

OSD1_HDOP_EN: HDOP_EN

Displays Horizontal Dilution Of Position

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HDOP_X: HDOP_X

Horizontal position on screen

Range
0 to 59

OSD1_HDOP_Y: HDOP_Y

Vertical position on screen

Range
0 to 21

OSD1_WAYPOINT_EN: WAYPOINT_EN

Displays bearing and distance to next waypoint

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_WAYPOINT_X: WAYPOINT_X

Horizontal position on screen

Range
0 to 59

OSD1_WAYPOINT_Y: WAYPOINT_Y

Vertical position on screen

Range
0 to 21

OSD1_XTRACK_EN: XTRACK_EN

Displays crosstrack error

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_XTRACK_X: XTRACK_X

Horizontal position on screen

Range
0 to 59

OSD1_XTRACK_Y: XTRACK_Y

Vertical position on screen

Range
0 to 21

OSD1_DIST_EN: DIST_EN

Displays total distance flown

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_DIST_X: DIST_X

Horizontal position on screen

Range
0 to 59

OSD1_DIST_Y: DIST_Y

Vertical position on screen

Range
0 to 21

OSD1_STATS_EN: STATS_EN

Displays flight stats

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_STATS_X: STATS_X

Horizontal position on screen

Range
0 to 59

OSD1_STATS_Y: STATS_Y

Vertical position on screen

Range
0 to 21

OSD1_FLTIME_EN: FLTIME_EN

Displays total flight time

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_FLTIME_X: FLTIME_X

Horizontal position on screen

Range
0 to 59

OSD1_FLTIME_Y: FLTIME_Y

Vertical position on screen

Range
0 to 21

OSD1_CLIMBEFF_EN: CLIMBEFF_EN

Displays climb efficiency (climb rate/current)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CLIMBEFF_X: CLIMBEFF_X

Horizontal position on screen

Range
0 to 59

OSD1_CLIMBEFF_Y: CLIMBEFF_Y

Vertical position on screen

Range
0 to 21

OSD1_EFF_EN: EFF_EN

Displays flight efficiency (mAh/km or /mi)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_EFF_X: EFF_X

Horizontal position on screen

Range
0 to 59

OSD1_EFF_Y: EFF_Y

Vertical position on screen

Range
0 to 21

OSD1_BTEMP_EN: BTEMP_EN

Displays temperature reported by secondary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BTEMP_X: BTEMP_X

Horizontal position on screen

Range
0 to 59

OSD1_BTEMP_Y: BTEMP_Y

Vertical position on screen

Range
0 to 21

OSD1_ATEMP_EN: ATEMP_EN

Displays temperature reported by primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ATEMP_X: ATEMP_X

Horizontal position on screen

Range
0 to 59

OSD1_ATEMP_Y: ATEMP_Y

Vertical position on screen

Range
0 to 21

OSD1_BAT2_VLT_EN: BAT2VLT_EN

Displays battery2 voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BAT2_VLT_X: BAT2VLT_X

Horizontal position on screen

Range
0 to 59

OSD1_BAT2_VLT_Y: BAT2VLT_Y

Vertical position on screen

Range
0 to 21

OSD1_BAT2USED_EN: BAT2USED_EN

Displays secondary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BAT2USED_X: BAT2USED_X

Horizontal position on screen

Range
0 to 59

OSD1_BAT2USED_Y: BAT2USED_Y

Vertical position on screen

Range
0 to 21

OSD1_ASPD2_EN: ASPD2_EN

Displays airspeed reported directly from secondary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ASPD2_X: ASPD2_X

Horizontal position on screen

Range
0 to 59

OSD1_ASPD2_Y: ASPD2_Y

Vertical position on screen

Range
0 to 21

OSD1_ASPD1_EN: ASPD1_EN

Displays airspeed reported directly from primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ASPD1_X: ASPD1_X

Horizontal position on screen

Range
0 to 59

OSD1_ASPD1_Y: ASPD1_Y

Vertical position on screen

Range
0 to 21

OSD1_CLK_EN: CLK_EN

Displays a clock panel based on AP_RTC local time

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CLK_X: CLK_X

Horizontal position on screen

Range
0 to 59

OSD1_CLK_Y: CLK_Y

Vertical position on screen

Range
0 to 21

OSD1_SIDEBARS_EN: SIDEBARS_EN

Displays artificial horizon side bars

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_SIDEBARS_X: SIDEBARS_X

Horizontal position on screen

Range
0 to 59

OSD1_SIDEBARS_Y: SIDEBARS_Y

Vertical position on screen

Range
0 to 21

OSD1_CRSSHAIR_EN: CRSSHAIR_EN

Displays artificial horizon crosshair (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CRSSHAIR_X: CRSSHAIR_X

Horizontal position on screen (MSP OSD only)

Range
0 to 59

OSD1_CRSSHAIR_Y: CRSSHAIR_Y

Vertical position on screen (MSP OSD only)

Range
0 to 21

OSD1_HOMEDIST_EN: HOMEDIST_EN

Displays distance from HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HOMEDIST_X: HOMEDIST_X

Horizontal position on screen (MSP OSD only)

Range
0 to 59

OSD1_HOMEDIST_Y: HOMEDIST_Y

Vertical position on screen (MSP OSD only)

Range
0 to 21

OSD1_HOMEDIR_EN: HOMEDIR_EN

Displays relative direction to HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HOMEDIR_X: HOMEDIR_X

Horizontal position on screen

Range
0 to 59

OSD1_HOMEDIR_Y: HOMEDIR_Y

Vertical position on screen

Range
0 to 21

OSD1_POWER_EN: POWER_EN

Displays power (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_POWER_X: POWER_X

Horizontal position on screen

Range
0 to 59

OSD1_POWER_Y: POWER_Y

Vertical position on screen

Range
0 to 21

OSD1_CELLVOLT_EN: CELL_VOLT_EN

Displays average cell voltage (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CELLVOLT_X: CELL_VOLT_X

Horizontal position on screen

Range
0 to 59

OSD1_CELLVOLT_Y: CELL_VOLT_Y

Vertical position on screen

Range
0 to 21

OSD1_BATTBAR_EN: BATT_BAR_EN

Displays battery usage bar (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BATTBAR_X: BATT_BAR_X

Horizontal position on screen

Range
0 to 59

OSD1_BATTBAR_Y: BATT_BAR_Y

Vertical position on screen

Range
0 to 21

OSD1_ARMING_EN: ARMING_EN

Displays arming status (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ARMING_X: ARMING_X

Horizontal position on screen

Range
0 to 59

OSD1_ARMING_Y: ARMING_Y

Vertical position on screen

Range
0 to 21

OSD1_PLUSCODE_EN: PLUSCODE_EN

Displays pluscode (OLC) element

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_PLUSCODE_X: PLUSCODE_X

Horizontal position on screen

Range
0 to 59

OSD1_PLUSCODE_Y: PLUSCODE_Y

Vertical position on screen

Range
0 to 21

OSD1_CALLSIGN_EN: CALLSIGN_EN

Displays callsign from callsign.txt on microSD card

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CALLSIGN_X: CALLSIGN_X

Horizontal position on screen

Range
0 to 59

OSD1_CALLSIGN_Y: CALLSIGN_Y

Vertical position on screen

Range
0 to 21

OSD1_CURRENT2_EN: CURRENT2_EN

Displays 2nd battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CURRENT2_X: CURRENT2_X

Horizontal position on screen

Range
0 to 59

OSD1_CURRENT2_Y: CURRENT2_Y

Vertical position on screen

Range
0 to 21

OSD1_VTX_PWR_EN: VTX_PWR_EN

Displays VTX Power

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_VTX_PWR_X: VTX_PWR_X

Horizontal position on screen

Range
0 to 59

OSD1_VTX_PWR_Y: VTX_PWR_Y

Vertical position on screen

Range
0 to 21

OSD1_TER_HGT_EN: TER_HGT_EN

Displays Height above terrain

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_TER_HGT_X: TER_HGT_X

Horizontal position on screen

Range
0 to 59

OSD1_TER_HGT_Y: TER_HGT_Y

Vertical position on screen

Range
0 to 21

OSD1_AVGCELLV_EN: AVGCELLV_EN

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_AVGCELLV_X: AVGCELLV_X

Horizontal position on screen

Range
0 to 59

OSD1_AVGCELLV_Y: AVGCELLV_Y

Vertical position on screen

Range
0 to 21

OSD1_RESTVOLT_EN: RESTVOLT_EN

Displays main battery resting voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RESTVOLT_X: RESTVOLT_X

Horizontal position on screen

Range
0 to 59

OSD1_RESTVOLT_Y: RESTVOLT_Y

Vertical position on screen

Range
0 to 21

OSD1_FENCE_EN: FENCE_EN

Displays indication of fence enable and breach

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_FENCE_X: FENCE_X

Horizontal position on screen

Range
0 to 59

OSD1_FENCE_Y: FENCE_Y

Vertical position on screen

Range
0 to 21

OSD1_RNGF_EN: RNGF_EN

Displays a rangefinder's distance in cm

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RNGF_X: RNGF_X

Horizontal position on screen

Range
0 to 59

OSD1_RNGF_Y: RNGF_Y

Vertical position on screen

Range
0 to 21

OSD1_ACRVOLT_EN: ACRVOLT_EN

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ACRVOLT_X: ACRVOLT_X

Horizontal position on screen

Range
0 to 59

OSD1_ACRVOLT_Y: ACRVOLT_Y

Vertical position on screen

Range
0 to 21

OSD1_RPM_EN: RPM_EN

Displays main rotor revs/min

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RPM_X: RPM_X

Horizontal position on screen

Range
0 to 29

OSD1_RPM_Y: RPM_Y

Vertical position on screen

Range
0 to 15

OSD1_LINK_Q_EN: LINK_Q_EN

Displays Receiver link quality

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_LINK_Q_X: LINK_Q_X

Horizontal position on screen

Range
0 to 59

OSD1_LINK_Q_Y: LINK_Q_Y

Vertical position on screen

Range
0 to 21

OSD1_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only)

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

Values
Value Meaning 0 30x16 1 50x18 2 60x22

OSD1_FONT: Sets the font index for this screen (MSP DisplayPort only)

Sets the font index for this screen (MSP DisplayPort only)

Range
0 to 21

OSD1_RC_PWR_EN: RC_PWR_EN

Displays the RC link transmit (TX) power in mW or W, depending on level

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RC_PWR_X: RC_PWR_X

Horizontal position on screen

Range
0 to 59

OSD1_RC_PWR_Y: RC_PWR_Y

Vertical position on screen

Range
0 to 21

OSD1_RSSIDBM_EN: RSSIDBM_EN

Displays RC link signal strength in dBm

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RSSIDBM_X: RSSIDBM_X

Horizontal position on screen

Range
0 to 59

OSD1_RSSIDBM_Y: RSSIDBM_Y

Vertical position on screen

Range
0 to 21

OSD1_RC_SNR_EN: RC_SNR_EN

Displays RC link signal to noise ratio in dB

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RC_SNR_X: RC_SNR_X

Horizontal position on screen

Range
0 to 59

OSD1_RC_SNR_Y: RC_SNR_Y

Vertical position on screen

Range
0 to 21

OSD1_RC_ANT_EN: RC_ANT_EN

Displays the current RC link active antenna

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RC_ANT_X: RC_ANT_X

Horizontal position on screen

Range
0 to 59

OSD1_RC_ANT_Y: RC_ANT_Y

Vertical position on screen

Range
0 to 21

OSD1_RC_LQ_EN: RC_LQ_EN

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RC_LQ_X: RC_LQ_X

Horizontal position on screen

Range
0 to 59

OSD1_RC_LQ_Y: RC_LQ_Y

Vertical position on screen

Range
0 to 21

OSD1_ESC_IDX: ESC_IDX

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

Range
0 to 32

OSD2_ Parameters

OSD2_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 to 2100

OSD2_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 to 2100

OSD2_ALTITUDE_EN: ALTITUDE_EN

Enables display of altitude AGL

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ALTITUDE_X: ALTITUDE_X

Horizontal position on screen

Range
0 to 59

OSD2_ALTITUDE_Y: ALTITUDE_Y

Vertical position on screen

Range
0 to 21

OSD2_BAT_VOLT_EN: BATVOLT_EN

Displays main battery voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BAT_VOLT_X: BATVOLT_X

Horizontal position on screen

Range
0 to 59

OSD2_BAT_VOLT_Y: BATVOLT_Y

Vertical position on screen

Range
0 to 21

OSD2_RSSI_EN: RSSI_EN

Displays RC signal strength

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RSSI_X: RSSI_X

Horizontal position on screen

Range
0 to 59

OSD2_RSSI_Y: RSSI_Y

Vertical position on screen

Range
0 to 21

OSD2_CURRENT_EN: CURRENT_EN

Displays main battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CURRENT_X: CURRENT_X

Horizontal position on screen

Range
0 to 59

OSD2_CURRENT_Y: CURRENT_Y

Vertical position on screen

Range
0 to 21

OSD2_BATUSED_EN: BATUSED_EN

Displays primary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BATUSED_X: BATUSED_X

Horizontal position on screen

Range
0 to 59

OSD2_BATUSED_Y: BATUSED_Y

Vertical position on screen

Range
0 to 21

OSD2_SATS_EN: SATS_EN

Displays number of acquired satellites

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_SATS_X: SATS_X

Horizontal position on screen

Range
0 to 59

OSD2_SATS_Y: SATS_Y

Vertical position on screen

Range
0 to 21

OSD2_FLTMODE_EN: FLTMODE_EN

Displays flight mode

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_FLTMODE_X: FLTMODE_X

Horizontal position on screen

Range
0 to 59

OSD2_FLTMODE_Y: FLTMODE_Y

Vertical position on screen

Range
0 to 21

OSD2_MESSAGE_EN: MESSAGE_EN

Displays Mavlink messages

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_MESSAGE_X: MESSAGE_X

Horizontal position on screen

Range
0 to 59

OSD2_MESSAGE_Y: MESSAGE_Y

Vertical position on screen

Range
0 to 21

OSD2_GSPEED_EN: GSPEED_EN

Displays GPS ground speed

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_GSPEED_X: GSPEED_X

Horizontal position on screen

Range
0 to 59

OSD2_GSPEED_Y: GSPEED_Y

Vertical position on screen

Range
0 to 21

OSD2_HORIZON_EN: HORIZON_EN

Displays artificial horizon

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HORIZON_X: HORIZON_X

Horizontal position on screen

Range
0 to 59

OSD2_HORIZON_Y: HORIZON_Y

Vertical position on screen

Range
0 to 21

OSD2_HOME_EN: HOME_EN

Displays distance and relative direction to HOME

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HOME_X: HOME_X

Horizontal position on screen

Range
0 to 59

OSD2_HOME_Y: HOME_Y

Vertical position on screen

Range
0 to 21

OSD2_HEADING_EN: HEADING_EN

Displays heading

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HEADING_X: HEADING_X

Horizontal position on screen

Range
0 to 59

OSD2_HEADING_Y: HEADING_Y

Vertical position on screen

Range
0 to 21

OSD2_THROTTLE_EN: THROTTLE_EN

Displays actual throttle percentage being sent to motor(s)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_THROTTLE_X: THROTTLE_X

Horizontal position on screen

Range
0 to 59

OSD2_THROTTLE_Y: THROTTLE_Y

Vertical position on screen

Range
0 to 21

OSD2_COMPASS_EN: COMPASS_EN

Enables display of compass rose

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_COMPASS_X: COMPASS_X

Horizontal position on screen

Range
0 to 59

OSD2_COMPASS_Y: COMPASS_Y

Vertical position on screen

Range
0 to 21

OSD2_WIND_EN: WIND_EN

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_WIND_X: WIND_X

Horizontal position on screen

Range
0 to 59

OSD2_WIND_Y: WIND_Y

Vertical position on screen

Range
0 to 21

OSD2_ASPEED_EN: ASPEED_EN

Displays airspeed value being used by TECS (fused value)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ASPEED_X: ASPEED_X

Horizontal position on screen

Range
0 to 59

OSD2_ASPEED_Y: ASPEED_Y

Vertical position on screen

Range
0 to 21

OSD2_VSPEED_EN: VSPEED_EN

Displays climb rate

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_VSPEED_X: VSPEED_X

Horizontal position on screen

Range
0 to 59

OSD2_VSPEED_Y: VSPEED_Y

Vertical position on screen

Range
0 to 21

OSD2_ESCTEMP_EN: ESCTEMP_EN

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ESCTEMP_X: ESCTEMP_X

Horizontal position on screen

Range
0 to 59

OSD2_ESCTEMP_Y: ESCTEMP_Y

Vertical position on screen

Range
0 to 21

OSD2_ESCRPM_EN: ESCRPM_EN

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ESCRPM_X: ESCRPM_X

Horizontal position on screen

Range
0 to 59

OSD2_ESCRPM_Y: ESCRPM_Y

Vertical position on screen

Range
0 to 21

OSD2_ESCAMPS_EN: ESCAMPS_EN

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ESCAMPS_X: ESCAMPS_X

Horizontal position on screen

Range
0 to 59

OSD2_ESCAMPS_Y: ESCAMPS_Y

Vertical position on screen

Range
0 to 21

OSD2_GPSLAT_EN: GPSLAT_EN

Displays GPS latitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_GPSLAT_X: GPSLAT_X

Horizontal position on screen

Range
0 to 59

OSD2_GPSLAT_Y: GPSLAT_Y

Vertical position on screen

Range
0 to 21

OSD2_GPSLONG_EN: GPSLONG_EN

Displays GPS longitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_GPSLONG_X: GPSLONG_X

Horizontal position on screen

Range
0 to 59

OSD2_GPSLONG_Y: GPSLONG_Y

Vertical position on screen

Range
0 to 21

OSD2_ROLL_EN: ROLL_EN

Displays degrees of roll from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ROLL_X: ROLL_X

Horizontal position on screen

Range
0 to 59

OSD2_ROLL_Y: ROLL_Y

Vertical position on screen

Range
0 to 21

OSD2_PITCH_EN: PITCH_EN

Displays degrees of pitch from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_PITCH_X: PITCH_X

Horizontal position on screen

Range
0 to 59

OSD2_PITCH_Y: PITCH_Y

Vertical position on screen

Range
0 to 21

OSD2_TEMP_EN: TEMP_EN

Displays temperature reported by primary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_TEMP_X: TEMP_X

Horizontal position on screen

Range
0 to 59

OSD2_TEMP_Y: TEMP_Y

Vertical position on screen

Range
0 to 21

OSD2_HDOP_EN: HDOP_EN

Displays Horizontal Dilution Of Position

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HDOP_X: HDOP_X

Horizontal position on screen

Range
0 to 59

OSD2_HDOP_Y: HDOP_Y

Vertical position on screen

Range
0 to 21

OSD2_WAYPOINT_EN: WAYPOINT_EN

Displays bearing and distance to next waypoint

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_WAYPOINT_X: WAYPOINT_X

Horizontal position on screen

Range
0 to 59

OSD2_WAYPOINT_Y: WAYPOINT_Y

Vertical position on screen

Range
0 to 21

OSD2_XTRACK_EN: XTRACK_EN

Displays crosstrack error

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_XTRACK_X: XTRACK_X

Horizontal position on screen

Range
0 to 59

OSD2_XTRACK_Y: XTRACK_Y

Vertical position on screen

Range
0 to 21

OSD2_DIST_EN: DIST_EN

Displays total distance flown

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_DIST_X: DIST_X

Horizontal position on screen

Range
0 to 59

OSD2_DIST_Y: DIST_Y

Vertical position on screen

Range
0 to 21

OSD2_STATS_EN: STATS_EN

Displays flight stats

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_STATS_X: STATS_X

Horizontal position on screen

Range
0 to 59

OSD2_STATS_Y: STATS_Y

Vertical position on screen

Range
0 to 21

OSD2_FLTIME_EN: FLTIME_EN

Displays total flight time

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_FLTIME_X: FLTIME_X

Horizontal position on screen

Range
0 to 59

OSD2_FLTIME_Y: FLTIME_Y

Vertical position on screen

Range
0 to 21

OSD2_CLIMBEFF_EN: CLIMBEFF_EN

Displays climb efficiency (climb rate/current)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CLIMBEFF_X: CLIMBEFF_X

Horizontal position on screen

Range
0 to 59

OSD2_CLIMBEFF_Y: CLIMBEFF_Y

Vertical position on screen

Range
0 to 21

OSD2_EFF_EN: EFF_EN

Displays flight efficiency (mAh/km or /mi)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_EFF_X: EFF_X

Horizontal position on screen

Range
0 to 59

OSD2_EFF_Y: EFF_Y

Vertical position on screen

Range
0 to 21

OSD2_BTEMP_EN: BTEMP_EN

Displays temperature reported by secondary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BTEMP_X: BTEMP_X

Horizontal position on screen

Range
0 to 59

OSD2_BTEMP_Y: BTEMP_Y

Vertical position on screen

Range
0 to 21

OSD2_ATEMP_EN: ATEMP_EN

Displays temperature reported by primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ATEMP_X: ATEMP_X

Horizontal position on screen

Range
0 to 59

OSD2_ATEMP_Y: ATEMP_Y

Vertical position on screen

Range
0 to 21

OSD2_BAT2_VLT_EN: BAT2VLT_EN

Displays battery2 voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BAT2_VLT_X: BAT2VLT_X

Horizontal position on screen

Range
0 to 59

OSD2_BAT2_VLT_Y: BAT2VLT_Y

Vertical position on screen

Range
0 to 21

OSD2_BAT2USED_EN: BAT2USED_EN

Displays secondary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BAT2USED_X: BAT2USED_X

Horizontal position on screen

Range
0 to 59

OSD2_BAT2USED_Y: BAT2USED_Y

Vertical position on screen

Range
0 to 21

OSD2_ASPD2_EN: ASPD2_EN

Displays airspeed reported directly from secondary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ASPD2_X: ASPD2_X

Horizontal position on screen

Range
0 to 59

OSD2_ASPD2_Y: ASPD2_Y

Vertical position on screen

Range
0 to 21

OSD2_ASPD1_EN: ASPD1_EN

Displays airspeed reported directly from primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ASPD1_X: ASPD1_X

Horizontal position on screen

Range
0 to 59

OSD2_ASPD1_Y: ASPD1_Y

Vertical position on screen

Range
0 to 21

OSD2_CLK_EN: CLK_EN

Displays a clock panel based on AP_RTC local time

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CLK_X: CLK_X

Horizontal position on screen

Range
0 to 59

OSD2_CLK_Y: CLK_Y

Vertical position on screen

Range
0 to 21

OSD2_SIDEBARS_EN: SIDEBARS_EN

Displays artificial horizon side bars

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_SIDEBARS_X: SIDEBARS_X

Horizontal position on screen

Range
0 to 59

OSD2_SIDEBARS_Y: SIDEBARS_Y

Vertical position on screen

Range
0 to 21

OSD2_CRSSHAIR_EN: CRSSHAIR_EN

Displays artificial horizon crosshair (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CRSSHAIR_X: CRSSHAIR_X

Horizontal position on screen (MSP OSD only)

Range
0 to 59

OSD2_CRSSHAIR_Y: CRSSHAIR_Y

Vertical position on screen (MSP OSD only)

Range
0 to 21

OSD2_HOMEDIST_EN: HOMEDIST_EN

Displays distance from HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HOMEDIST_X: HOMEDIST_X

Horizontal position on screen (MSP OSD only)

Range
0 to 59

OSD2_HOMEDIST_Y: HOMEDIST_Y

Vertical position on screen (MSP OSD only)

Range
0 to 21

OSD2_HOMEDIR_EN: HOMEDIR_EN

Displays relative direction to HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HOMEDIR_X: HOMEDIR_X

Horizontal position on screen

Range
0 to 59

OSD2_HOMEDIR_Y: HOMEDIR_Y

Vertical position on screen

Range
0 to 21

OSD2_POWER_EN: POWER_EN

Displays power (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_POWER_X: POWER_X

Horizontal position on screen

Range
0 to 59

OSD2_POWER_Y: POWER_Y

Vertical position on screen

Range
0 to 21

OSD2_CELLVOLT_EN: CELL_VOLT_EN

Displays average cell voltage (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CELLVOLT_X: CELL_VOLT_X

Horizontal position on screen

Range
0 to 59

OSD2_CELLVOLT_Y: CELL_VOLT_Y

Vertical position on screen

Range
0 to 21

OSD2_BATTBAR_EN: BATT_BAR_EN

Displays battery usage bar (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BATTBAR_X: BATT_BAR_X

Horizontal position on screen

Range
0 to 59

OSD2_BATTBAR_Y: BATT_BAR_Y

Vertical position on screen

Range
0 to 21

OSD2_ARMING_EN: ARMING_EN

Displays arming status (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ARMING_X: ARMING_X

Horizontal position on screen

Range
0 to 59

OSD2_ARMING_Y: ARMING_Y

Vertical position on screen

Range
0 to 21

OSD2_PLUSCODE_EN: PLUSCODE_EN

Displays pluscode (OLC) element

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_PLUSCODE_X: PLUSCODE_X

Horizontal position on screen

Range
0 to 59

OSD2_PLUSCODE_Y: PLUSCODE_Y

Vertical position on screen

Range
0 to 21

OSD2_CALLSIGN_EN: CALLSIGN_EN

Displays callsign from callsign.txt on microSD card

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CALLSIGN_X: CALLSIGN_X

Horizontal position on screen

Range
0 to 59

OSD2_CALLSIGN_Y: CALLSIGN_Y

Vertical position on screen

Range
0 to 21

OSD2_CURRENT2_EN: CURRENT2_EN

Displays 2nd battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CURRENT2_X: CURRENT2_X

Horizontal position on screen

Range
0 to 59

OSD2_CURRENT2_Y: CURRENT2_Y

Vertical position on screen

Range
0 to 21

OSD2_VTX_PWR_EN: VTX_PWR_EN

Displays VTX Power

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_VTX_PWR_X: VTX_PWR_X

Horizontal position on screen

Range
0 to 59

OSD2_VTX_PWR_Y: VTX_PWR_Y

Vertical position on screen

Range
0 to 21

OSD2_TER_HGT_EN: TER_HGT_EN

Displays Height above terrain

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_TER_HGT_X: TER_HGT_X

Horizontal position on screen

Range
0 to 59

OSD2_TER_HGT_Y: TER_HGT_Y

Vertical position on screen

Range
0 to 21

OSD2_AVGCELLV_EN: AVGCELLV_EN

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_AVGCELLV_X: AVGCELLV_X

Horizontal position on screen

Range
0 to 59

OSD2_AVGCELLV_Y: AVGCELLV_Y

Vertical position on screen

Range
0 to 21

OSD2_RESTVOLT_EN: RESTVOLT_EN

Displays main battery resting voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RESTVOLT_X: RESTVOLT_X

Horizontal position on screen

Range
0 to 59

OSD2_RESTVOLT_Y: RESTVOLT_Y

Vertical position on screen

Range
0 to 21

OSD2_FENCE_EN: FENCE_EN

Displays indication of fence enable and breach

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_FENCE_X: FENCE_X

Horizontal position on screen

Range
0 to 59

OSD2_FENCE_Y: FENCE_Y

Vertical position on screen

Range
0 to 21

OSD2_RNGF_EN: RNGF_EN

Displays a rangefinder's distance in cm

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RNGF_X: RNGF_X

Horizontal position on screen

Range
0 to 59

OSD2_RNGF_Y: RNGF_Y

Vertical position on screen

Range
0 to 21

OSD2_ACRVOLT_EN: ACRVOLT_EN

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ACRVOLT_X: ACRVOLT_X

Horizontal position on screen

Range
0 to 59

OSD2_ACRVOLT_Y: ACRVOLT_Y

Vertical position on screen

Range
0 to 21

OSD2_RPM_EN: RPM_EN

Displays main rotor revs/min

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RPM_X: RPM_X

Horizontal position on screen

Range
0 to 29

OSD2_RPM_Y: RPM_Y

Vertical position on screen

Range
0 to 15

OSD2_LINK_Q_EN: LINK_Q_EN

Displays Receiver link quality

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_LINK_Q_X: LINK_Q_X

Horizontal position on screen

Range
0 to 59

OSD2_LINK_Q_Y: LINK_Q_Y

Vertical position on screen

Range
0 to 21

OSD2_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only)

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

Values
Value Meaning 0 30x16 1 50x18 2 60x22

OSD2_FONT: Sets the font index for this screen (MSP DisplayPort only)

Sets the font index for this screen (MSP DisplayPort only)

Range
0 to 21

OSD2_RC_PWR_EN: RC_PWR_EN

Displays the RC link transmit (TX) power in mW or W, depending on level

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RC_PWR_X: RC_PWR_X

Horizontal position on screen

Range
0 to 59

OSD2_RC_PWR_Y: RC_PWR_Y

Vertical position on screen

Range
0 to 21

OSD2_RSSIDBM_EN: RSSIDBM_EN

Displays RC link signal strength in dBm

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RSSIDBM_X: RSSIDBM_X

Horizontal position on screen

Range
0 to 59

OSD2_RSSIDBM_Y: RSSIDBM_Y

Vertical position on screen

Range
0 to 21

OSD2_RC_SNR_EN: RC_SNR_EN

Displays RC link signal to noise ratio in dB

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RC_SNR_X: RC_SNR_X

Horizontal position on screen

Range
0 to 59

OSD2_RC_SNR_Y: RC_SNR_Y

Vertical position on screen

Range
0 to 21

OSD2_RC_ANT_EN: RC_ANT_EN

Displays the current RC link active antenna

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RC_ANT_X: RC_ANT_X

Horizontal position on screen

Range
0 to 59

OSD2_RC_ANT_Y: RC_ANT_Y

Vertical position on screen

Range
0 to 21

OSD2_RC_LQ_EN: RC_LQ_EN

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RC_LQ_X: RC_LQ_X

Horizontal position on screen

Range
0 to 59

OSD2_RC_LQ_Y: RC_LQ_Y

Vertical position on screen

Range
0 to 21

OSD2_ESC_IDX: ESC_IDX

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

Range
0 to 32

OSD3_ Parameters

OSD3_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 to 2100

OSD3_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 to 2100

OSD3_ALTITUDE_EN: ALTITUDE_EN

Enables display of altitude AGL

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ALTITUDE_X: ALTITUDE_X

Horizontal position on screen

Range
0 to 59

OSD3_ALTITUDE_Y: ALTITUDE_Y

Vertical position on screen

Range
0 to 21

OSD3_BAT_VOLT_EN: BATVOLT_EN

Displays main battery voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BAT_VOLT_X: BATVOLT_X

Horizontal position on screen

Range
0 to 59

OSD3_BAT_VOLT_Y: BATVOLT_Y

Vertical position on screen

Range
0 to 21

OSD3_RSSI_EN: RSSI_EN

Displays RC signal strength

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RSSI_X: RSSI_X

Horizontal position on screen

Range
0 to 59

OSD3_RSSI_Y: RSSI_Y

Vertical position on screen

Range
0 to 21

OSD3_CURRENT_EN: CURRENT_EN

Displays main battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CURRENT_X: CURRENT_X

Horizontal position on screen

Range
0 to 59

OSD3_CURRENT_Y: CURRENT_Y

Vertical position on screen

Range
0 to 21

OSD3_BATUSED_EN: BATUSED_EN

Displays primary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BATUSED_X: BATUSED_X

Horizontal position on screen

Range
0 to 59

OSD3_BATUSED_Y: BATUSED_Y

Vertical position on screen

Range
0 to 21

OSD3_SATS_EN: SATS_EN

Displays number of acquired satellites

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_SATS_X: SATS_X

Horizontal position on screen

Range
0 to 59

OSD3_SATS_Y: SATS_Y

Vertical position on screen

Range
0 to 21

OSD3_FLTMODE_EN: FLTMODE_EN

Displays flight mode

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_FLTMODE_X: FLTMODE_X

Horizontal position on screen

Range
0 to 59

OSD3_FLTMODE_Y: FLTMODE_Y

Vertical position on screen

Range
0 to 21

OSD3_MESSAGE_EN: MESSAGE_EN

Displays Mavlink messages

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_MESSAGE_X: MESSAGE_X

Horizontal position on screen

Range
0 to 59

OSD3_MESSAGE_Y: MESSAGE_Y

Vertical position on screen

Range
0 to 21

OSD3_GSPEED_EN: GSPEED_EN

Displays GPS ground speed

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_GSPEED_X: GSPEED_X

Horizontal position on screen

Range
0 to 59

OSD3_GSPEED_Y: GSPEED_Y

Vertical position on screen

Range
0 to 21

OSD3_HORIZON_EN: HORIZON_EN

Displays artificial horizon

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HORIZON_X: HORIZON_X

Horizontal position on screen

Range
0 to 59

OSD3_HORIZON_Y: HORIZON_Y

Vertical position on screen

Range
0 to 21

OSD3_HOME_EN: HOME_EN

Displays distance and relative direction to HOME

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HOME_X: HOME_X

Horizontal position on screen

Range
0 to 59

OSD3_HOME_Y: HOME_Y

Vertical position on screen

Range
0 to 21

OSD3_HEADING_EN: HEADING_EN

Displays heading

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HEADING_X: HEADING_X

Horizontal position on screen

Range
0 to 59

OSD3_HEADING_Y: HEADING_Y

Vertical position on screen

Range
0 to 21

OSD3_THROTTLE_EN: THROTTLE_EN

Displays actual throttle percentage being sent to motor(s)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_THROTTLE_X: THROTTLE_X

Horizontal position on screen

Range
0 to 59

OSD3_THROTTLE_Y: THROTTLE_Y

Vertical position on screen

Range
0 to 21

OSD3_COMPASS_EN: COMPASS_EN

Enables display of compass rose

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_COMPASS_X: COMPASS_X

Horizontal position on screen

Range
0 to 59

OSD3_COMPASS_Y: COMPASS_Y

Vertical position on screen

Range
0 to 21

OSD3_WIND_EN: WIND_EN

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_WIND_X: WIND_X

Horizontal position on screen

Range
0 to 59

OSD3_WIND_Y: WIND_Y

Vertical position on screen

Range
0 to 21

OSD3_ASPEED_EN: ASPEED_EN

Displays airspeed value being used by TECS (fused value)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ASPEED_X: ASPEED_X

Horizontal position on screen

Range
0 to 59

OSD3_ASPEED_Y: ASPEED_Y

Vertical position on screen

Range
0 to 21

OSD3_VSPEED_EN: VSPEED_EN

Displays climb rate

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_VSPEED_X: VSPEED_X

Horizontal position on screen

Range
0 to 59

OSD3_VSPEED_Y: VSPEED_Y

Vertical position on screen

Range
0 to 21

OSD3_ESCTEMP_EN: ESCTEMP_EN

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ESCTEMP_X: ESCTEMP_X

Horizontal position on screen

Range
0 to 59

OSD3_ESCTEMP_Y: ESCTEMP_Y

Vertical position on screen

Range
0 to 21

OSD3_ESCRPM_EN: ESCRPM_EN

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ESCRPM_X: ESCRPM_X

Horizontal position on screen

Range
0 to 59

OSD3_ESCRPM_Y: ESCRPM_Y

Vertical position on screen

Range
0 to 21

OSD3_ESCAMPS_EN: ESCAMPS_EN

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ESCAMPS_X: ESCAMPS_X

Horizontal position on screen

Range
0 to 59

OSD3_ESCAMPS_Y: ESCAMPS_Y

Vertical position on screen

Range
0 to 21

OSD3_GPSLAT_EN: GPSLAT_EN

Displays GPS latitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_GPSLAT_X: GPSLAT_X

Horizontal position on screen

Range
0 to 59

OSD3_GPSLAT_Y: GPSLAT_Y

Vertical position on screen

Range
0 to 21

OSD3_GPSLONG_EN: GPSLONG_EN

Displays GPS longitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_GPSLONG_X: GPSLONG_X

Horizontal position on screen

Range
0 to 59

OSD3_GPSLONG_Y: GPSLONG_Y

Vertical position on screen

Range
0 to 21

OSD3_ROLL_EN: ROLL_EN

Displays degrees of roll from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ROLL_X: ROLL_X

Horizontal position on screen

Range
0 to 59

OSD3_ROLL_Y: ROLL_Y

Vertical position on screen

Range
0 to 21

OSD3_PITCH_EN: PITCH_EN

Displays degrees of pitch from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_PITCH_X: PITCH_X

Horizontal position on screen

Range
0 to 59

OSD3_PITCH_Y: PITCH_Y

Vertical position on screen

Range
0 to 21

OSD3_TEMP_EN: TEMP_EN

Displays temperature reported by primary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_TEMP_X: TEMP_X

Horizontal position on screen

Range
0 to 59

OSD3_TEMP_Y: TEMP_Y

Vertical position on screen

Range
0 to 21

OSD3_HDOP_EN: HDOP_EN

Displays Horizontal Dilution Of Position

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HDOP_X: HDOP_X

Horizontal position on screen

Range
0 to 59

OSD3_HDOP_Y: HDOP_Y

Vertical position on screen

Range
0 to 21

OSD3_WAYPOINT_EN: WAYPOINT_EN

Displays bearing and distance to next waypoint

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_WAYPOINT_X: WAYPOINT_X

Horizontal position on screen

Range
0 to 59

OSD3_WAYPOINT_Y: WAYPOINT_Y

Vertical position on screen

Range
0 to 21

OSD3_XTRACK_EN: XTRACK_EN

Displays crosstrack error

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_XTRACK_X: XTRACK_X

Horizontal position on screen

Range
0 to 59

OSD3_XTRACK_Y: XTRACK_Y

Vertical position on screen

Range
0 to 21

OSD3_DIST_EN: DIST_EN

Displays total distance flown

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_DIST_X: DIST_X

Horizontal position on screen

Range
0 to 59

OSD3_DIST_Y: DIST_Y

Vertical position on screen

Range
0 to 21

OSD3_STATS_EN: STATS_EN

Displays flight stats

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_STATS_X: STATS_X

Horizontal position on screen

Range
0 to 59

OSD3_STATS_Y: STATS_Y

Vertical position on screen

Range
0 to 21

OSD3_FLTIME_EN: FLTIME_EN

Displays total flight time

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_FLTIME_X: FLTIME_X

Horizontal position on screen

Range
0 to 59

OSD3_FLTIME_Y: FLTIME_Y

Vertical position on screen

Range
0 to 21

OSD3_CLIMBEFF_EN: CLIMBEFF_EN

Displays climb efficiency (climb rate/current)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CLIMBEFF_X: CLIMBEFF_X

Horizontal position on screen

Range
0 to 59

OSD3_CLIMBEFF_Y: CLIMBEFF_Y

Vertical position on screen

Range
0 to 21

OSD3_EFF_EN: EFF_EN

Displays flight efficiency (mAh/km or /mi)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_EFF_X: EFF_X

Horizontal position on screen

Range
0 to 59

OSD3_EFF_Y: EFF_Y

Vertical position on screen

Range
0 to 21

OSD3_BTEMP_EN: BTEMP_EN

Displays temperature reported by secondary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BTEMP_X: BTEMP_X

Horizontal position on screen

Range
0 to 59

OSD3_BTEMP_Y: BTEMP_Y

Vertical position on screen

Range
0 to 21

OSD3_ATEMP_EN: ATEMP_EN

Displays temperature reported by primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ATEMP_X: ATEMP_X

Horizontal position on screen

Range
0 to 59

OSD3_ATEMP_Y: ATEMP_Y

Vertical position on screen

Range
0 to 21

OSD3_BAT2_VLT_EN: BAT2VLT_EN

Displays battery2 voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BAT2_VLT_X: BAT2VLT_X

Horizontal position on screen

Range
0 to 59

OSD3_BAT2_VLT_Y: BAT2VLT_Y

Vertical position on screen

Range
0 to 21

OSD3_BAT2USED_EN: BAT2USED_EN

Displays secondary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BAT2USED_X: BAT2USED_X

Horizontal position on screen

Range
0 to 59

OSD3_BAT2USED_Y: BAT2USED_Y

Vertical position on screen

Range
0 to 21

OSD3_ASPD2_EN: ASPD2_EN

Displays airspeed reported directly from secondary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ASPD2_X: ASPD2_X

Horizontal position on screen

Range
0 to 59

OSD3_ASPD2_Y: ASPD2_Y

Vertical position on screen

Range
0 to 21

OSD3_ASPD1_EN: ASPD1_EN

Displays airspeed reported directly from primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ASPD1_X: ASPD1_X

Horizontal position on screen

Range
0 to 59

OSD3_ASPD1_Y: ASPD1_Y

Vertical position on screen

Range
0 to 21

OSD3_CLK_EN: CLK_EN

Displays a clock panel based on AP_RTC local time

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CLK_X: CLK_X

Horizontal position on screen

Range
0 to 59

OSD3_CLK_Y: CLK_Y

Vertical position on screen

Range
0 to 21

OSD3_SIDEBARS_EN: SIDEBARS_EN

Displays artificial horizon side bars

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_SIDEBARS_X: SIDEBARS_X

Horizontal position on screen

Range
0 to 59

OSD3_SIDEBARS_Y: SIDEBARS_Y

Vertical position on screen

Range
0 to 21

OSD3_CRSSHAIR_EN: CRSSHAIR_EN

Displays artificial horizon crosshair (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CRSSHAIR_X: CRSSHAIR_X

Horizontal position on screen (MSP OSD only)

Range
0 to 59

OSD3_CRSSHAIR_Y: CRSSHAIR_Y

Vertical position on screen (MSP OSD only)

Range
0 to 21

OSD3_HOMEDIST_EN: HOMEDIST_EN

Displays distance from HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HOMEDIST_X: HOMEDIST_X

Horizontal position on screen (MSP OSD only)

Range
0 to 59

OSD3_HOMEDIST_Y: HOMEDIST_Y

Vertical position on screen (MSP OSD only)

Range
0 to 21

OSD3_HOMEDIR_EN: HOMEDIR_EN

Displays relative direction to HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HOMEDIR_X: HOMEDIR_X

Horizontal position on screen

Range
0 to 59

OSD3_HOMEDIR_Y: HOMEDIR_Y

Vertical position on screen

Range
0 to 21

OSD3_POWER_EN: POWER_EN

Displays power (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_POWER_X: POWER_X

Horizontal position on screen

Range
0 to 59

OSD3_POWER_Y: POWER_Y

Vertical position on screen

Range
0 to 21

OSD3_CELLVOLT_EN: CELL_VOLT_EN

Displays average cell voltage (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CELLVOLT_X: CELL_VOLT_X

Horizontal position on screen

Range
0 to 59

OSD3_CELLVOLT_Y: CELL_VOLT_Y

Vertical position on screen

Range
0 to 21

OSD3_BATTBAR_EN: BATT_BAR_EN

Displays battery usage bar (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BATTBAR_X: BATT_BAR_X

Horizontal position on screen

Range
0 to 59

OSD3_BATTBAR_Y: BATT_BAR_Y

Vertical position on screen

Range
0 to 21

OSD3_ARMING_EN: ARMING_EN

Displays arming status (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ARMING_X: ARMING_X

Horizontal position on screen

Range
0 to 59

OSD3_ARMING_Y: ARMING_Y

Vertical position on screen

Range
0 to 21

OSD3_PLUSCODE_EN: PLUSCODE_EN

Displays pluscode (OLC) element

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_PLUSCODE_X: PLUSCODE_X

Horizontal position on screen

Range
0 to 59

OSD3_PLUSCODE_Y: PLUSCODE_Y

Vertical position on screen

Range
0 to 21

OSD3_CALLSIGN_EN: CALLSIGN_EN

Displays callsign from callsign.txt on microSD card

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CALLSIGN_X: CALLSIGN_X

Horizontal position on screen

Range
0 to 59

OSD3_CALLSIGN_Y: CALLSIGN_Y

Vertical position on screen

Range
0 to 21

OSD3_CURRENT2_EN: CURRENT2_EN

Displays 2nd battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CURRENT2_X: CURRENT2_X

Horizontal position on screen

Range
0 to 59

OSD3_CURRENT2_Y: CURRENT2_Y

Vertical position on screen

Range
0 to 21

OSD3_VTX_PWR_EN: VTX_PWR_EN

Displays VTX Power

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_VTX_PWR_X: VTX_PWR_X

Horizontal position on screen

Range
0 to 59

OSD3_VTX_PWR_Y: VTX_PWR_Y

Vertical position on screen

Range
0 to 21

OSD3_TER_HGT_EN: TER_HGT_EN

Displays Height above terrain

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_TER_HGT_X: TER_HGT_X

Horizontal position on screen

Range
0 to 59

OSD3_TER_HGT_Y: TER_HGT_Y

Vertical position on screen

Range
0 to 21

OSD3_AVGCELLV_EN: AVGCELLV_EN

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_AVGCELLV_X: AVGCELLV_X

Horizontal position on screen

Range
0 to 59

OSD3_AVGCELLV_Y: AVGCELLV_Y

Vertical position on screen

Range
0 to 21

OSD3_RESTVOLT_EN: RESTVOLT_EN

Displays main battery resting voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RESTVOLT_X: RESTVOLT_X

Horizontal position on screen

Range
0 to 59

OSD3_RESTVOLT_Y: RESTVOLT_Y

Vertical position on screen

Range
0 to 21

OSD3_FENCE_EN: FENCE_EN

Displays indication of fence enable and breach

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_FENCE_X: FENCE_X

Horizontal position on screen

Range
0 to 59

OSD3_FENCE_Y: FENCE_Y

Vertical position on screen

Range
0 to 21

OSD3_RNGF_EN: RNGF_EN

Displays a rangefinder's distance in cm

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RNGF_X: RNGF_X

Horizontal position on screen

Range
0 to 59

OSD3_RNGF_Y: RNGF_Y

Vertical position on screen

Range
0 to 21

OSD3_ACRVOLT_EN: ACRVOLT_EN

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ACRVOLT_X: ACRVOLT_X

Horizontal position on screen

Range
0 to 59

OSD3_ACRVOLT_Y: ACRVOLT_Y

Vertical position on screen

Range
0 to 21

OSD3_RPM_EN: RPM_EN

Displays main rotor revs/min

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RPM_X: RPM_X

Horizontal position on screen

Range
0 to 29

OSD3_RPM_Y: RPM_Y

Vertical position on screen

Range
0 to 15

OSD3_LINK_Q_EN: LINK_Q_EN

Displays Receiver link quality

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_LINK_Q_X: LINK_Q_X

Horizontal position on screen

Range
0 to 59

OSD3_LINK_Q_Y: LINK_Q_Y

Vertical position on screen

Range
0 to 21

OSD3_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only)

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

Values
Value Meaning 0 30x16 1 50x18 2 60x22

OSD3_FONT: Sets the font index for this screen (MSP DisplayPort only)

Sets the font index for this screen (MSP DisplayPort only)

Range
0 to 21

OSD3_RC_PWR_EN: RC_PWR_EN

Displays the RC link transmit (TX) power in mW or W, depending on level

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RC_PWR_X: RC_PWR_X

Horizontal position on screen

Range
0 to 59

OSD3_RC_PWR_Y: RC_PWR_Y

Vertical position on screen

Range
0 to 21

OSD3_RSSIDBM_EN: RSSIDBM_EN

Displays RC link signal strength in dBm

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RSSIDBM_X: RSSIDBM_X

Horizontal position on screen

Range
0 to 59

OSD3_RSSIDBM_Y: RSSIDBM_Y

Vertical position on screen

Range
0 to 21

OSD3_RC_SNR_EN: RC_SNR_EN

Displays RC link signal to noise ratio in dB

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RC_SNR_X: RC_SNR_X

Horizontal position on screen

Range
0 to 59

OSD3_RC_SNR_Y: RC_SNR_Y

Vertical position on screen

Range
0 to 21

OSD3_RC_ANT_EN: RC_ANT_EN

Displays the current RC link active antenna

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RC_ANT_X: RC_ANT_X

Horizontal position on screen

Range
0 to 59

OSD3_RC_ANT_Y: RC_ANT_Y

Vertical position on screen

Range
0 to 21

OSD3_RC_LQ_EN: RC_LQ_EN

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RC_LQ_X: RC_LQ_X

Horizontal position on screen

Range
0 to 59

OSD3_RC_LQ_Y: RC_LQ_Y

Vertical position on screen

Range
0 to 21

OSD3_ESC_IDX: ESC_IDX

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

Range
0 to 32

OSD4_ Parameters

OSD4_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 to 2100

OSD4_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 to 2100

OSD4_ALTITUDE_EN: ALTITUDE_EN

Enables display of altitude AGL

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ALTITUDE_X: ALTITUDE_X

Horizontal position on screen

Range
0 to 59

OSD4_ALTITUDE_Y: ALTITUDE_Y

Vertical position on screen

Range
0 to 21

OSD4_BAT_VOLT_EN: BATVOLT_EN

Displays main battery voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BAT_VOLT_X: BATVOLT_X

Horizontal position on screen

Range
0 to 59

OSD4_BAT_VOLT_Y: BATVOLT_Y

Vertical position on screen

Range
0 to 21

OSD4_RSSI_EN: RSSI_EN

Displays RC signal strength

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RSSI_X: RSSI_X

Horizontal position on screen

Range
0 to 59

OSD4_RSSI_Y: RSSI_Y

Vertical position on screen

Range
0 to 21

OSD4_CURRENT_EN: CURRENT_EN

Displays main battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CURRENT_X: CURRENT_X

Horizontal position on screen

Range
0 to 59

OSD4_CURRENT_Y: CURRENT_Y

Vertical position on screen

Range
0 to 21

OSD4_BATUSED_EN: BATUSED_EN

Displays primary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BATUSED_X: BATUSED_X

Horizontal position on screen

Range
0 to 59

OSD4_BATUSED_Y: BATUSED_Y

Vertical position on screen

Range
0 to 21

OSD4_SATS_EN: SATS_EN

Displays number of acquired satellites

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_SATS_X: SATS_X

Horizontal position on screen

Range
0 to 59

OSD4_SATS_Y: SATS_Y

Vertical position on screen

Range
0 to 21

OSD4_FLTMODE_EN: FLTMODE_EN

Displays flight mode

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_FLTMODE_X: FLTMODE_X

Horizontal position on screen

Range
0 to 59

OSD4_FLTMODE_Y: FLTMODE_Y

Vertical position on screen

Range
0 to 21

OSD4_MESSAGE_EN: MESSAGE_EN

Displays Mavlink messages

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_MESSAGE_X: MESSAGE_X

Horizontal position on screen

Range
0 to 59

OSD4_MESSAGE_Y: MESSAGE_Y

Vertical position on screen

Range
0 to 21

OSD4_GSPEED_EN: GSPEED_EN

Displays GPS ground speed

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_GSPEED_X: GSPEED_X

Horizontal position on screen

Range
0 to 59

OSD4_GSPEED_Y: GSPEED_Y

Vertical position on screen

Range
0 to 21

OSD4_HORIZON_EN: HORIZON_EN

Displays artificial horizon

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HORIZON_X: HORIZON_X

Horizontal position on screen

Range
0 to 59

OSD4_HORIZON_Y: HORIZON_Y

Vertical position on screen

Range
0 to 21

OSD4_HOME_EN: HOME_EN

Displays distance and relative direction to HOME

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HOME_X: HOME_X

Horizontal position on screen

Range
0 to 59

OSD4_HOME_Y: HOME_Y

Vertical position on screen

Range
0 to 21

OSD4_HEADING_EN: HEADING_EN

Displays heading

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HEADING_X: HEADING_X

Horizontal position on screen

Range
0 to 59

OSD4_HEADING_Y: HEADING_Y

Vertical position on screen

Range
0 to 21

OSD4_THROTTLE_EN: THROTTLE_EN

Displays actual throttle percentage being sent to motor(s)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_THROTTLE_X: THROTTLE_X

Horizontal position on screen

Range
0 to 59

OSD4_THROTTLE_Y: THROTTLE_Y

Vertical position on screen

Range
0 to 21

OSD4_COMPASS_EN: COMPASS_EN

Enables display of compass rose

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_COMPASS_X: COMPASS_X

Horizontal position on screen

Range
0 to 59

OSD4_COMPASS_Y: COMPASS_Y

Vertical position on screen

Range
0 to 21

OSD4_WIND_EN: WIND_EN

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_WIND_X: WIND_X

Horizontal position on screen

Range
0 to 59

OSD4_WIND_Y: WIND_Y

Vertical position on screen

Range
0 to 21

OSD4_ASPEED_EN: ASPEED_EN

Displays airspeed value being used by TECS (fused value)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ASPEED_X: ASPEED_X

Horizontal position on screen

Range
0 to 59

OSD4_ASPEED_Y: ASPEED_Y

Vertical position on screen

Range
0 to 21

OSD4_VSPEED_EN: VSPEED_EN

Displays climb rate

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_VSPEED_X: VSPEED_X

Horizontal position on screen

Range
0 to 59

OSD4_VSPEED_Y: VSPEED_Y

Vertical position on screen

Range
0 to 21

OSD4_ESCTEMP_EN: ESCTEMP_EN

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ESCTEMP_X: ESCTEMP_X

Horizontal position on screen

Range
0 to 59

OSD4_ESCTEMP_Y: ESCTEMP_Y

Vertical position on screen

Range
0 to 21

OSD4_ESCRPM_EN: ESCRPM_EN

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ESCRPM_X: ESCRPM_X

Horizontal position on screen

Range
0 to 59

OSD4_ESCRPM_Y: ESCRPM_Y

Vertical position on screen

Range
0 to 21

OSD4_ESCAMPS_EN: ESCAMPS_EN

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ESCAMPS_X: ESCAMPS_X

Horizontal position on screen

Range
0 to 59

OSD4_ESCAMPS_Y: ESCAMPS_Y

Vertical position on screen

Range
0 to 21

OSD4_GPSLAT_EN: GPSLAT_EN

Displays GPS latitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_GPSLAT_X: GPSLAT_X

Horizontal position on screen

Range
0 to 59

OSD4_GPSLAT_Y: GPSLAT_Y

Vertical position on screen

Range
0 to 21

OSD4_GPSLONG_EN: GPSLONG_EN

Displays GPS longitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_GPSLONG_X: GPSLONG_X

Horizontal position on screen

Range
0 to 59

OSD4_GPSLONG_Y: GPSLONG_Y

Vertical position on screen

Range
0 to 21

OSD4_ROLL_EN: ROLL_EN

Displays degrees of roll from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ROLL_X: ROLL_X

Horizontal position on screen

Range
0 to 59

OSD4_ROLL_Y: ROLL_Y

Vertical position on screen

Range
0 to 21

OSD4_PITCH_EN: PITCH_EN

Displays degrees of pitch from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_PITCH_X: PITCH_X

Horizontal position on screen

Range
0 to 59

OSD4_PITCH_Y: PITCH_Y

Vertical position on screen

Range
0 to 21

OSD4_TEMP_EN: TEMP_EN

Displays temperature reported by primary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_TEMP_X: TEMP_X

Horizontal position on screen

Range
0 to 59

OSD4_TEMP_Y: TEMP_Y

Vertical position on screen

Range
0 to 21

OSD4_HDOP_EN: HDOP_EN

Displays Horizontal Dilution Of Position

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HDOP_X: HDOP_X

Horizontal position on screen

Range
0 to 59

OSD4_HDOP_Y: HDOP_Y

Vertical position on screen

Range
0 to 21

OSD4_WAYPOINT_EN: WAYPOINT_EN

Displays bearing and distance to next waypoint

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_WAYPOINT_X: WAYPOINT_X

Horizontal position on screen

Range
0 to 59

OSD4_WAYPOINT_Y: WAYPOINT_Y

Vertical position on screen

Range
0 to 21

OSD4_XTRACK_EN: XTRACK_EN

Displays crosstrack error

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_XTRACK_X: XTRACK_X

Horizontal position on screen

Range
0 to 59

OSD4_XTRACK_Y: XTRACK_Y

Vertical position on screen

Range
0 to 21

OSD4_DIST_EN: DIST_EN

Displays total distance flown

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_DIST_X: DIST_X

Horizontal position on screen

Range
0 to 59

OSD4_DIST_Y: DIST_Y

Vertical position on screen

Range
0 to 21

OSD4_STATS_EN: STATS_EN

Displays flight stats

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_STATS_X: STATS_X

Horizontal position on screen

Range
0 to 59

OSD4_STATS_Y: STATS_Y

Vertical position on screen

Range
0 to 21

OSD4_FLTIME_EN: FLTIME_EN

Displays total flight time

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_FLTIME_X: FLTIME_X

Horizontal position on screen

Range
0 to 59

OSD4_FLTIME_Y: FLTIME_Y

Vertical position on screen

Range
0 to 21

OSD4_CLIMBEFF_EN: CLIMBEFF_EN

Displays climb efficiency (climb rate/current)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CLIMBEFF_X: CLIMBEFF_X

Horizontal position on screen

Range
0 to 59

OSD4_CLIMBEFF_Y: CLIMBEFF_Y

Vertical position on screen

Range
0 to 21

OSD4_EFF_EN: EFF_EN

Displays flight efficiency (mAh/km or /mi)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_EFF_X: EFF_X

Horizontal position on screen

Range
0 to 59

OSD4_EFF_Y: EFF_Y

Vertical position on screen

Range
0 to 21

OSD4_BTEMP_EN: BTEMP_EN

Displays temperature reported by secondary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BTEMP_X: BTEMP_X

Horizontal position on screen

Range
0 to 59

OSD4_BTEMP_Y: BTEMP_Y

Vertical position on screen

Range
0 to 21

OSD4_ATEMP_EN: ATEMP_EN

Displays temperature reported by primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ATEMP_X: ATEMP_X

Horizontal position on screen

Range
0 to 59

OSD4_ATEMP_Y: ATEMP_Y

Vertical position on screen

Range
0 to 21

OSD4_BAT2_VLT_EN: BAT2VLT_EN

Displays battery2 voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BAT2_VLT_X: BAT2VLT_X

Horizontal position on screen

Range
0 to 59

OSD4_BAT2_VLT_Y: BAT2VLT_Y

Vertical position on screen

Range
0 to 21

OSD4_BAT2USED_EN: BAT2USED_EN

Displays secondary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BAT2USED_X: BAT2USED_X

Horizontal position on screen

Range
0 to 59

OSD4_BAT2USED_Y: BAT2USED_Y

Vertical position on screen

Range
0 to 21

OSD4_ASPD2_EN: ASPD2_EN

Displays airspeed reported directly from secondary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ASPD2_X: ASPD2_X

Horizontal position on screen

Range
0 to 59

OSD4_ASPD2_Y: ASPD2_Y

Vertical position on screen

Range
0 to 21

OSD4_ASPD1_EN: ASPD1_EN

Displays airspeed reported directly from primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ASPD1_X: ASPD1_X

Horizontal position on screen

Range
0 to 59

OSD4_ASPD1_Y: ASPD1_Y

Vertical position on screen

Range
0 to 21

OSD4_CLK_EN: CLK_EN

Displays a clock panel based on AP_RTC local time

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CLK_X: CLK_X

Horizontal position on screen

Range
0 to 59

OSD4_CLK_Y: CLK_Y

Vertical position on screen

Range
0 to 21

OSD4_SIDEBARS_EN: SIDEBARS_EN

Displays artificial horizon side bars

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_SIDEBARS_X: SIDEBARS_X

Horizontal position on screen

Range
0 to 59

OSD4_SIDEBARS_Y: SIDEBARS_Y

Vertical position on screen

Range
0 to 21

OSD4_CRSSHAIR_EN: CRSSHAIR_EN

Displays artificial horizon crosshair (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CRSSHAIR_X: CRSSHAIR_X

Horizontal position on screen (MSP OSD only)

Range
0 to 59

OSD4_CRSSHAIR_Y: CRSSHAIR_Y

Vertical position on screen (MSP OSD only)

Range
0 to 21

OSD4_HOMEDIST_EN: HOMEDIST_EN

Displays distance from HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HOMEDIST_X: HOMEDIST_X

Horizontal position on screen (MSP OSD only)

Range
0 to 59

OSD4_HOMEDIST_Y: HOMEDIST_Y

Vertical position on screen (MSP OSD only)

Range
0 to 21

OSD4_HOMEDIR_EN: HOMEDIR_EN

Displays relative direction to HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HOMEDIR_X: HOMEDIR_X

Horizontal position on screen

Range
0 to 59

OSD4_HOMEDIR_Y: HOMEDIR_Y

Vertical position on screen

Range
0 to 21

OSD4_POWER_EN: POWER_EN

Displays power (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_POWER_X: POWER_X

Horizontal position on screen

Range
0 to 59

OSD4_POWER_Y: POWER_Y

Vertical position on screen

Range
0 to 21

OSD4_CELLVOLT_EN: CELL_VOLT_EN

Displays average cell voltage (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CELLVOLT_X: CELL_VOLT_X

Horizontal position on screen

Range
0 to 59

OSD4_CELLVOLT_Y: CELL_VOLT_Y

Vertical position on screen

Range
0 to 21

OSD4_BATTBAR_EN: BATT_BAR_EN

Displays battery usage bar (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BATTBAR_X: BATT_BAR_X

Horizontal position on screen

Range
0 to 59

OSD4_BATTBAR_Y: BATT_BAR_Y

Vertical position on screen

Range
0 to 21

OSD4_ARMING_EN: ARMING_EN

Displays arming status (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ARMING_X: ARMING_X

Horizontal position on screen

Range
0 to 59

OSD4_ARMING_Y: ARMING_Y

Vertical position on screen

Range
0 to 21

OSD4_PLUSCODE_EN: PLUSCODE_EN

Displays pluscode (OLC) element

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_PLUSCODE_X: PLUSCODE_X

Horizontal position on screen

Range
0 to 59

OSD4_PLUSCODE_Y: PLUSCODE_Y

Vertical position on screen

Range
0 to 21

OSD4_CALLSIGN_EN: CALLSIGN_EN

Displays callsign from callsign.txt on microSD card

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CALLSIGN_X: CALLSIGN_X

Horizontal position on screen

Range
0 to 59

OSD4_CALLSIGN_Y: CALLSIGN_Y

Vertical position on screen

Range
0 to 21

OSD4_CURRENT2_EN: CURRENT2_EN

Displays 2nd battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CURRENT2_X: CURRENT2_X

Horizontal position on screen

Range
0 to 59

OSD4_CURRENT2_Y: CURRENT2_Y

Vertical position on screen

Range
0 to 21

OSD4_VTX_PWR_EN: VTX_PWR_EN

Displays VTX Power

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_VTX_PWR_X: VTX_PWR_X

Horizontal position on screen

Range
0 to 59

OSD4_VTX_PWR_Y: VTX_PWR_Y

Vertical position on screen

Range
0 to 21

OSD4_TER_HGT_EN: TER_HGT_EN

Displays Height above terrain

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_TER_HGT_X: TER_HGT_X

Horizontal position on screen

Range
0 to 59

OSD4_TER_HGT_Y: TER_HGT_Y

Vertical position on screen

Range
0 to 21

OSD4_AVGCELLV_EN: AVGCELLV_EN

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_AVGCELLV_X: AVGCELLV_X

Horizontal position on screen

Range
0 to 59

OSD4_AVGCELLV_Y: AVGCELLV_Y

Vertical position on screen

Range
0 to 21

OSD4_RESTVOLT_EN: RESTVOLT_EN

Displays main battery resting voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RESTVOLT_X: RESTVOLT_X

Horizontal position on screen

Range
0 to 59

OSD4_RESTVOLT_Y: RESTVOLT_Y

Vertical position on screen

Range
0 to 21

OSD4_FENCE_EN: FENCE_EN

Displays indication of fence enable and breach

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_FENCE_X: FENCE_X

Horizontal position on screen

Range
0 to 59

OSD4_FENCE_Y: FENCE_Y

Vertical position on screen

Range
0 to 21

OSD4_RNGF_EN: RNGF_EN

Displays a rangefinder's distance in cm

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RNGF_X: RNGF_X

Horizontal position on screen

Range
0 to 59

OSD4_RNGF_Y: RNGF_Y

Vertical position on screen

Range
0 to 21

OSD4_ACRVOLT_EN: ACRVOLT_EN

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ACRVOLT_X: ACRVOLT_X

Horizontal position on screen

Range
0 to 59

OSD4_ACRVOLT_Y: ACRVOLT_Y

Vertical position on screen

Range
0 to 21

OSD4_RPM_EN: RPM_EN

Displays main rotor revs/min

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RPM_X: RPM_X

Horizontal position on screen

Range
0 to 29

OSD4_RPM_Y: RPM_Y

Vertical position on screen

Range
0 to 15

OSD4_LINK_Q_EN: LINK_Q_EN

Displays Receiver link quality

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_LINK_Q_X: LINK_Q_X

Horizontal position on screen

Range
0 to 59

OSD4_LINK_Q_Y: LINK_Q_Y

Vertical position on screen

Range
0 to 21

OSD4_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only)

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

Values
Value Meaning 0 30x16 1 50x18 2 60x22

OSD4_FONT: Sets the font index for this screen (MSP DisplayPort only)

Sets the font index for this screen (MSP DisplayPort only)

Range
0 to 21

OSD4_RC_PWR_EN: RC_PWR_EN

Displays the RC link transmit (TX) power in mW or W, depending on level

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RC_PWR_X: RC_PWR_X

Horizontal position on screen

Range
0 to 59

OSD4_RC_PWR_Y: RC_PWR_Y

Vertical position on screen

Range
0 to 21

OSD4_RSSIDBM_EN: RSSIDBM_EN

Displays RC link signal strength in dBm

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RSSIDBM_X: RSSIDBM_X

Horizontal position on screen

Range
0 to 59

OSD4_RSSIDBM_Y: RSSIDBM_Y

Vertical position on screen

Range
0 to 21

OSD4_RC_SNR_EN: RC_SNR_EN

Displays RC link signal to noise ratio in dB

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RC_SNR_X: RC_SNR_X

Horizontal position on screen

Range
0 to 59

OSD4_RC_SNR_Y: RC_SNR_Y

Vertical position on screen

Range
0 to 21

OSD4_RC_ANT_EN: RC_ANT_EN

Displays the current RC link active antenna

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RC_ANT_X: RC_ANT_X

Horizontal position on screen

Range
0 to 59

OSD4_RC_ANT_Y: RC_ANT_Y

Vertical position on screen

Range
0 to 21

OSD4_RC_LQ_EN: RC_LQ_EN

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RC_LQ_X: RC_LQ_X

Horizontal position on screen

Range
0 to 59

OSD4_RC_LQ_Y: RC_LQ_Y

Vertical position on screen

Range
0 to 21

OSD4_ESC_IDX: ESC_IDX

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

Range
0 to 32

OSD5_ Parameters

OSD5_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD5_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 to 2100

OSD5_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 to 2100

OSD5_SAVE_X: SAVE_X

Note: This parameter is for advanced users

Horizontal position of Save button on screen

Range
0 to 25

OSD5_SAVE_Y: SAVE_Y

Note: This parameter is for advanced users

Vertical position of Save button on screen

Range
0 to 15

OSD5_PARAM1 Parameters

OSD5_PARAM1_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM1_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM1_Y: Y position

Vertical position on screen

Range
0 to 15

OSD5_PARAM1_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD5_PARAM1_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD5_PARAM1_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD5_PARAM1_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD5_PARAM1_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD5_PARAM1_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD5_PARAM1_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD5_PARAM2 Parameters

OSD5_PARAM2_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM2_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM2_Y: Y position

Vertical position on screen

Range
0 to 15

OSD5_PARAM2_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD5_PARAM2_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD5_PARAM2_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD5_PARAM2_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD5_PARAM2_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD5_PARAM2_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD5_PARAM2_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD5_PARAM3 Parameters

OSD5_PARAM3_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM3_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM3_Y: Y position

Vertical position on screen

Range
0 to 15

OSD5_PARAM3_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD5_PARAM3_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD5_PARAM3_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD5_PARAM3_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD5_PARAM3_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD5_PARAM3_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD5_PARAM3_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD5_PARAM4 Parameters

OSD5_PARAM4_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM4_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM4_Y: Y position

Vertical position on screen

Range
0 to 15

OSD5_PARAM4_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD5_PARAM4_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD5_PARAM4_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD5_PARAM4_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD5_PARAM4_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD5_PARAM4_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD5_PARAM4_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD5_PARAM5 Parameters

OSD5_PARAM5_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM5_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM5_Y: Y position

Vertical position on screen

Range
0 to 15

OSD5_PARAM5_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD5_PARAM5_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD5_PARAM5_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD5_PARAM5_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD5_PARAM5_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD5_PARAM5_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD5_PARAM5_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD5_PARAM6 Parameters

OSD5_PARAM6_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM6_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM6_Y: Y position

Vertical position on screen

Range
0 to 15

OSD5_PARAM6_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD5_PARAM6_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD5_PARAM6_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD5_PARAM6_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD5_PARAM6_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD5_PARAM6_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD5_PARAM6_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD5_PARAM7 Parameters

OSD5_PARAM7_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM7_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM7_Y: Y position

Vertical position on screen

Range
0 to 15

OSD5_PARAM7_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD5_PARAM7_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD5_PARAM7_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD5_PARAM7_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD5_PARAM7_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD5_PARAM7_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD5_PARAM7_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD5_PARAM8 Parameters

OSD5_PARAM8_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM8_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM8_Y: Y position

Vertical position on screen

Range
0 to 15

OSD5_PARAM8_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD5_PARAM8_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD5_PARAM8_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD5_PARAM8_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD5_PARAM8_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD5_PARAM8_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD5_PARAM8_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD5_PARAM9 Parameters

OSD5_PARAM9_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM9_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM9_Y: Y position

Vertical position on screen

Range
0 to 15

OSD5_PARAM9_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD5_PARAM9_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD5_PARAM9_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD5_PARAM9_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD5_PARAM9_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD5_PARAM9_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD5_PARAM9_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD6_ Parameters

OSD6_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD6_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 to 2100

OSD6_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 to 2100

OSD6_SAVE_X: SAVE_X

Note: This parameter is for advanced users

Horizontal position of Save button on screen

Range
0 to 25

OSD6_SAVE_Y: SAVE_Y

Note: This parameter is for advanced users

Vertical position of Save button on screen

Range
0 to 15

OSD6_PARAM1 Parameters

OSD6_PARAM1_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM1_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM1_Y: Y position

Vertical position on screen

Range
0 to 15

OSD6_PARAM1_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD6_PARAM1_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD6_PARAM1_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD6_PARAM1_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD6_PARAM1_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD6_PARAM1_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD6_PARAM1_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD6_PARAM2 Parameters

OSD6_PARAM2_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM2_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM2_Y: Y position

Vertical position on screen

Range
0 to 15

OSD6_PARAM2_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD6_PARAM2_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD6_PARAM2_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD6_PARAM2_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD6_PARAM2_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD6_PARAM2_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD6_PARAM2_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD6_PARAM3 Parameters

OSD6_PARAM3_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM3_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM3_Y: Y position

Vertical position on screen

Range
0 to 15

OSD6_PARAM3_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD6_PARAM3_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD6_PARAM3_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD6_PARAM3_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD6_PARAM3_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD6_PARAM3_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD6_PARAM3_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD6_PARAM4 Parameters

OSD6_PARAM4_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM4_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM4_Y: Y position

Vertical position on screen

Range
0 to 15

OSD6_PARAM4_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD6_PARAM4_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD6_PARAM4_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD6_PARAM4_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD6_PARAM4_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD6_PARAM4_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD6_PARAM4_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD6_PARAM5 Parameters

OSD6_PARAM5_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM5_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM5_Y: Y position

Vertical position on screen

Range
0 to 15

OSD6_PARAM5_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD6_PARAM5_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD6_PARAM5_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD6_PARAM5_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD6_PARAM5_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD6_PARAM5_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD6_PARAM5_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD6_PARAM6 Parameters

OSD6_PARAM6_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM6_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM6_Y: Y position

Vertical position on screen

Range
0 to 15

OSD6_PARAM6_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD6_PARAM6_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD6_PARAM6_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD6_PARAM6_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD6_PARAM6_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD6_PARAM6_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD6_PARAM6_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD6_PARAM7 Parameters

OSD6_PARAM7_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM7_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM7_Y: Y position

Vertical position on screen

Range
0 to 15

OSD6_PARAM7_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD6_PARAM7_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD6_PARAM7_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD6_PARAM7_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD6_PARAM7_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD6_PARAM7_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD6_PARAM7_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD6_PARAM8 Parameters

OSD6_PARAM8_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM8_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM8_Y: Y position

Vertical position on screen

Range
0 to 15

OSD6_PARAM8_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD6_PARAM8_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD6_PARAM8_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD6_PARAM8_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD6_PARAM8_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD6_PARAM8_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD6_PARAM8_TYPE: Parameter type

Type of the parameter to be displayed and modified

OSD6_PARAM9 Parameters

OSD6_PARAM9_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM9_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM9_Y: Y position

Vertical position on screen

Range
0 to 15

OSD6_PARAM9_KEY: Parameter key

Key of the parameter to be displayed and modified

OSD6_PARAM9_IDX: Parameter index

Index of the parameter to be displayed and modified

OSD6_PARAM9_GRP: Parameter group

Group of the parameter to be displayed and modified

OSD6_PARAM9_MIN: Parameter minimum

Minimum value of the parameter to be displayed and modified

OSD6_PARAM9_MAX: Parameter maximum

Maximum of the parameter to be displayed and modified

OSD6_PARAM9_INCR: Parameter increment

Increment of the parameter to be displayed and modified

OSD6_PARAM9_TYPE: Parameter type

Type of the parameter to be displayed and modified

PLND_ Parameters

PLND_ENABLED: Precision Land enabled/disabled

Note: This parameter is for advanced users

Precision Land enabled/disabled

Values
Value Meaning 0 Disabled 1 Enabled

PLND_TYPE: Precision Land Type

Note: This parameter is for advanced users

Precision Land Type

Values
Value Meaning 0 None 1 MAVLink 2 IRLock 3 SITL_Gazebo 4 SITL

PLND_YAW_ALIGN: Sensor yaw alignment

Note: This parameter is for advanced users

Yaw angle from body x-axis to sensor x-axis.

Increment	Range	Units
10	0 to 36000	centidegrees

PLND_LAND_OFS_X: Land offset forward

Note: This parameter is for advanced users

Desired landing position of the camera forward of the target in vehicle body frame

Increment	Range	Units
1	-20 to 20	centimeters

PLND_LAND_OFS_Y: Land offset right

Note: This parameter is for advanced users

desired landing position of the camera right of the target in vehicle body frame

Increment	Range	Units
1	-20 to 20	centimeters

PLND_EST_TYPE: Precision Land Estimator Type

Note: This parameter is for advanced users

Specifies the estimation method to be used

Values
Value Meaning 0 RawSensor 1 KalmanFilter

PLND_ACC_P_NSE: Kalman Filter Accelerometer Noise

Note: This parameter is for advanced users

Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less

Range
0.5 to 5

PLND_CAM_POS_X: Camera X position offset

Note: This parameter is for advanced users

X position of the camera in body frame. Positive X is forward of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

PLND_CAM_POS_Y: Camera Y position offset

Note: This parameter is for advanced users

Y position of the camera in body frame. Positive Y is to the right of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

PLND_CAM_POS_Z: Camera Z position offset

Note: This parameter is for advanced users

Z position of the camera in body frame. Positive Z is down from the origin.

Increment	Range	Units
0.01	-5 to 5	meters

PLND_BUS: Sensor Bus

Note: This parameter is for advanced users

Precland sensor bus for I2C sensors.

Values
Value Meaning -1 DefaultBus 0 InternalI2C 1 ExternalI2C

PLND_LAG: Precision Landing sensor lag

Note: This parameter is for advanced users

Note: Reboot required after change

Precision Landing sensor lag, to cope with variable landing_target latency

Increment	Range	Units
1	0.02 to 0.250	seconds

PLND_XY_DIST_MAX: Precision Landing maximum distance to target before descending

Note: This parameter is for advanced users

The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend.

Range	Units
0 to 10	meters

PLND_STRICT: PrecLand strictness

How strictly should the vehicle land on the target if target is lost

Values
Value Meaning 0 Land Vertically (Not strict) 1 Retry Landing(Normal Strictness) 2 Do not land (just Hover) (Very Strict)

PLND_RET_MAX: PrecLand Maximum number of retires for a failed landing

PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry.

Increment	Range
1	0 to 10

PLND_TIMEOUT: PrecLand retry timeout

Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.

Range	Units
0 to 20	seconds

PLND_RET_BEHAVE: PrecLand retry behaviour

Prec Land will do the action selected by this parameter if a retry to a landing is needed

Values
Value Meaning 0 Go to the last location where landing target was detected 1 Go towards the approximate location of the detected landing target

PLND_ALT_MIN: PrecLand minimum alt for retry

Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this.

Range	Units
0 to 5	meters

PLND_ALT_MAX: PrecLand maximum alt for retry

Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this.

Range	Units
0 to 50	meters

PLND_OPTIONS: Precision Landing Extra Options

Note: This parameter is for advanced users

Precision Landing Extra Options

Bitmask
Bit Meaning 0 Moving Landing Target 1 Allow Precision Landing after manual reposition 2 Maintain high speed in final descent

PLND_ORIENT: Camera Orientation

Note: This parameter is for advanced users

Note: Reboot required after change

Orientation of camera/sensor on body

Values
Value Meaning 0 Forward 4 Back 25 Down

PRX Parameters

PRX_LOG_RAW: Proximity raw distances log

Note: This parameter is for advanced users

Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled

Values
Value Meaning 0 Off 1 On

PRX_FILT: Proximity filter cutoff frequency

Note: This parameter is for advanced users

Cutoff frequency for low pass filter applied to each face in the proximity boundary

Range	Units
0 to 20	hertz

PRX1 Parameters

PRX1_TYPE: Proximity type

Note: Reboot required after change

What type of proximity sensor is connected

Values
Value Meaning 0 None 7 LightwareSF40c 2 MAVLink 3 TeraRangerTower 4 RangeFinder 5 RPLidarA2 6 TeraRangerTowerEvo 8 LightwareSF45B 10 SITL 12 AirSimSITL 13 CygbotD1 14 DroneCAN 15 Scripting 16 LD06 17 MR72_CAN 18 HexsoonRadar

PRX1_ORIENT: Proximity sensor orientation

Proximity sensor orientation

Values
Value Meaning 0 Default 1 Upside Down

PRX1_YAW_CORR: Proximity sensor yaw correction

Proximity sensor yaw correction

Range	Units
-180 to 180	degrees

PRX1_IGN_ANG1: Proximity sensor ignore angle 1

Proximity sensor ignore angle 1

Range	Units
0 to 360	degrees

PRX1_IGN_WID1: Proximity sensor ignore width 1

Proximity sensor ignore width 1

Range	Units
0 to 127	degrees

PRX1_IGN_ANG2: Proximity sensor ignore angle 2

Proximity sensor ignore angle 2

Range	Units
0 to 360	degrees

PRX1_IGN_WID2: Proximity sensor ignore width 2

Proximity sensor ignore width 2

Range	Units
0 to 127	degrees

PRX1_IGN_ANG3: Proximity sensor ignore angle 3

Proximity sensor ignore angle 3

Range	Units
0 to 360	degrees

PRX1_IGN_WID3: Proximity sensor ignore width 3

Proximity sensor ignore width 3

Range	Units
0 to 127	degrees

PRX1_IGN_ANG4: Proximity sensor ignore angle 4

Proximity sensor ignore angle 4

Range	Units
0 to 360	degrees

PRX1_IGN_WID4: Proximity sensor ignore width 4

Proximity sensor ignore width 4

Range	Units
0 to 127	degrees

PRX1_MIN: Proximity minimum range

Note: This parameter is for advanced users

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX1_MAX: Proximity maximum range

Note: This parameter is for advanced users

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX1_ADDR: Bus address of sensor

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

PRX1_ Parameters

PRX1_RECV_ID: CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

PRX2 Parameters

PRX2_TYPE: Proximity type

Note: Reboot required after change

What type of proximity sensor is connected

Values
Value Meaning 0 None 7 LightwareSF40c 2 MAVLink 3 TeraRangerTower 4 RangeFinder 5 RPLidarA2 6 TeraRangerTowerEvo 8 LightwareSF45B 10 SITL 12 AirSimSITL 13 CygbotD1 14 DroneCAN 15 Scripting 16 LD06 17 MR72_CAN 18 HexsoonRadar

PRX2_ORIENT: Proximity sensor orientation

Proximity sensor orientation

Values
Value Meaning 0 Default 1 Upside Down

PRX2_YAW_CORR: Proximity sensor yaw correction

Proximity sensor yaw correction

Range	Units
-180 to 180	degrees

PRX2_IGN_ANG1: Proximity sensor ignore angle 1

Proximity sensor ignore angle 1

Range	Units
0 to 360	degrees

PRX2_IGN_WID1: Proximity sensor ignore width 1

Proximity sensor ignore width 1

Range	Units
0 to 127	degrees

PRX2_IGN_ANG2: Proximity sensor ignore angle 2

Proximity sensor ignore angle 2

Range	Units
0 to 360	degrees

PRX2_IGN_WID2: Proximity sensor ignore width 2

Proximity sensor ignore width 2

Range	Units
0 to 127	degrees

PRX2_IGN_ANG3: Proximity sensor ignore angle 3

Proximity sensor ignore angle 3

Range	Units
0 to 360	degrees

PRX2_IGN_WID3: Proximity sensor ignore width 3

Proximity sensor ignore width 3

Range	Units
0 to 127	degrees

PRX2_IGN_ANG4: Proximity sensor ignore angle 4

Proximity sensor ignore angle 4

Range	Units
0 to 360	degrees

PRX2_IGN_WID4: Proximity sensor ignore width 4

Proximity sensor ignore width 4

Range	Units
0 to 127	degrees

PRX2_MIN: Proximity minimum range

Note: This parameter is for advanced users

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX2_MAX: Proximity maximum range

Note: This parameter is for advanced users

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX2_ADDR: Bus address of sensor

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

PRX2_ Parameters

PRX2_RECV_ID: CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

PRX3 Parameters

PRX3_TYPE: Proximity type

Note: Reboot required after change

What type of proximity sensor is connected

Values
Value Meaning 0 None 7 LightwareSF40c 2 MAVLink 3 TeraRangerTower 4 RangeFinder 5 RPLidarA2 6 TeraRangerTowerEvo 8 LightwareSF45B 10 SITL 12 AirSimSITL 13 CygbotD1 14 DroneCAN 15 Scripting 16 LD06 17 MR72_CAN 18 HexsoonRadar

PRX3_ORIENT: Proximity sensor orientation

Proximity sensor orientation

Values
Value Meaning 0 Default 1 Upside Down

PRX3_YAW_CORR: Proximity sensor yaw correction

Proximity sensor yaw correction

Range	Units
-180 to 180	degrees

PRX3_IGN_ANG1: Proximity sensor ignore angle 1

Proximity sensor ignore angle 1

Range	Units
0 to 360	degrees

PRX3_IGN_WID1: Proximity sensor ignore width 1

Proximity sensor ignore width 1

Range	Units
0 to 127	degrees

PRX3_IGN_ANG2: Proximity sensor ignore angle 2

Proximity sensor ignore angle 2

Range	Units
0 to 360	degrees

PRX3_IGN_WID2: Proximity sensor ignore width 2

Proximity sensor ignore width 2

Range	Units
0 to 127	degrees

PRX3_IGN_ANG3: Proximity sensor ignore angle 3

Proximity sensor ignore angle 3

Range	Units
0 to 360	degrees

PRX3_IGN_WID3: Proximity sensor ignore width 3

Proximity sensor ignore width 3

Range	Units
0 to 127	degrees

PRX3_IGN_ANG4: Proximity sensor ignore angle 4

Proximity sensor ignore angle 4

Range	Units
0 to 360	degrees

PRX3_IGN_WID4: Proximity sensor ignore width 4

Proximity sensor ignore width 4

Range	Units
0 to 127	degrees

PRX3_MIN: Proximity minimum range

Note: This parameter is for advanced users

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX3_MAX: Proximity maximum range

Note: This parameter is for advanced users

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX3_ADDR: Bus address of sensor

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

PRX3_ Parameters

PRX3_RECV_ID: CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

PRX4 Parameters

PRX4_TYPE: Proximity type

Note: Reboot required after change

What type of proximity sensor is connected

Values
Value Meaning 0 None 7 LightwareSF40c 2 MAVLink 3 TeraRangerTower 4 RangeFinder 5 RPLidarA2 6 TeraRangerTowerEvo 8 LightwareSF45B 10 SITL 12 AirSimSITL 13 CygbotD1 14 DroneCAN 15 Scripting 16 LD06 17 MR72_CAN 18 HexsoonRadar

PRX4_ORIENT: Proximity sensor orientation

Proximity sensor orientation

Values
Value Meaning 0 Default 1 Upside Down

PRX4_YAW_CORR: Proximity sensor yaw correction

Proximity sensor yaw correction

Range	Units
-180 to 180	degrees

PRX4_IGN_ANG1: Proximity sensor ignore angle 1

Proximity sensor ignore angle 1

Range	Units
0 to 360	degrees

PRX4_IGN_WID1: Proximity sensor ignore width 1

Proximity sensor ignore width 1

Range	Units
0 to 127	degrees

PRX4_IGN_ANG2: Proximity sensor ignore angle 2

Proximity sensor ignore angle 2

Range	Units
0 to 360	degrees

PRX4_IGN_WID2: Proximity sensor ignore width 2

Proximity sensor ignore width 2

Range	Units
0 to 127	degrees

PRX4_IGN_ANG3: Proximity sensor ignore angle 3

Proximity sensor ignore angle 3

Range	Units
0 to 360	degrees

PRX4_IGN_WID3: Proximity sensor ignore width 3

Proximity sensor ignore width 3

Range	Units
0 to 127	degrees

PRX4_IGN_ANG4: Proximity sensor ignore angle 4

Proximity sensor ignore angle 4

Range	Units
0 to 360	degrees

PRX4_IGN_WID4: Proximity sensor ignore width 4

Proximity sensor ignore width 4

Range	Units
0 to 127	degrees

PRX4_MIN: Proximity minimum range

Note: This parameter is for advanced users

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX4_MAX: Proximity maximum range

Note: This parameter is for advanced users

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX4_ADDR: Bus address of sensor

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

PRX4_ Parameters

PRX4_RECV_ID: CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

PRX5 Parameters

PRX5_TYPE: Proximity type

Note: Reboot required after change

What type of proximity sensor is connected

Values
Value Meaning 0 None 7 LightwareSF40c 2 MAVLink 3 TeraRangerTower 4 RangeFinder 5 RPLidarA2 6 TeraRangerTowerEvo 8 LightwareSF45B 10 SITL 12 AirSimSITL 13 CygbotD1 14 DroneCAN 15 Scripting 16 LD06 17 MR72_CAN 18 HexsoonRadar

PRX5_ORIENT: Proximity sensor orientation

Proximity sensor orientation

Values
Value Meaning 0 Default 1 Upside Down

PRX5_YAW_CORR: Proximity sensor yaw correction

Proximity sensor yaw correction

Range	Units
-180 to 180	degrees

PRX5_IGN_ANG1: Proximity sensor ignore angle 1

Proximity sensor ignore angle 1

Range	Units
0 to 360	degrees

PRX5_IGN_WID1: Proximity sensor ignore width 1

Proximity sensor ignore width 1

Range	Units
0 to 127	degrees

PRX5_IGN_ANG2: Proximity sensor ignore angle 2

Proximity sensor ignore angle 2

Range	Units
0 to 360	degrees

PRX5_IGN_WID2: Proximity sensor ignore width 2

Proximity sensor ignore width 2

Range	Units
0 to 127	degrees

PRX5_IGN_ANG3: Proximity sensor ignore angle 3

Proximity sensor ignore angle 3

Range	Units
0 to 360	degrees

PRX5_IGN_WID3: Proximity sensor ignore width 3

Proximity sensor ignore width 3

Range	Units
0 to 127	degrees

PRX5_IGN_ANG4: Proximity sensor ignore angle 4

Proximity sensor ignore angle 4

Range	Units
0 to 360	degrees

PRX5_IGN_WID4: Proximity sensor ignore width 4

Proximity sensor ignore width 4

Range	Units
0 to 127	degrees

PRX5_MIN: Proximity minimum range

Note: This parameter is for advanced users

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX5_MAX: Proximity maximum range

Note: This parameter is for advanced users

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX5_ADDR: Bus address of sensor

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

PRX5_ Parameters

PRX5_RECV_ID: CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

PSC Parameters

PSC_POS_P: Position controller P gain

Position controller P gain. Converts the distance to the target location into a desired speed which is then passed to the loiter latitude rate controller

Range
0.500 to 2.000

PSC_VEL_P: Velocity (horizontal) P gain

Note: This parameter is for advanced users

Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration

Increment	Range
0.1	0.1 to 6.0

PSC_VEL_I: Velocity (horizontal) I gain

Note: This parameter is for advanced users

Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration

Increment	Range
0.01	0.00 to 1.00

PSC_VEL_D: Velocity (horizontal) D gain

Note: This parameter is for advanced users

Velocity (horizontal) D gain. Corrects short-term changes in velocity

Increment	Range
0.001	0.00 to 1.00

PSC_VEL_IMAX: Velocity (horizontal) integrator maximum

Note: This parameter is for advanced users

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

Increment	Range	Units
10	0 to 4500	centimeters per square second

PSC_VEL_FLTE: Velocity (horizontal) input filter

Note: This parameter is for advanced users

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms

Range	Units
0 to 100	hertz

PSC_VEL_FLTD: Velocity (horizontal) input filter

Note: This parameter is for advanced users

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term

Range	Units
0 to 100	hertz

PSC_VEL_FF: Velocity (horizontal) feed forward gain

Note: This parameter is for advanced users

Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration

Increment	Range
0.01	0 to 6

RALLY_ Parameters

RALLY_TOTAL: Rally Total

Note: This parameter is for advanced users

Number of rally points currently loaded

RALLY_LIMIT_KM: Rally Limit

Note: This parameter is for advanced users

Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.

Increment	Units
0.1	kilometers

RALLY_INCL_HOME: Rally Include Home

Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL

Values
Value Meaning 0 DoNotIncludeHome 1 IncludeHome

RC Parameters

RC_OVERRIDE_TIME: RC override timeout

Note: This parameter is for advanced users

Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled

Range	Units
0.0 to 120.0	seconds

RC_OPTIONS: RC options

Note: This parameter is for advanced users

RC input options

Bitmask

Bit Meaning 0 Ignore RC Receiver 1 Ignore MAVLink Overrides 2 Ignore Receiver Failsafe bit but allow other RC failsafes if setup 3 FPort Pad 4 Log RC input bytes 5 Arming check throttle for 0 input 6 Skip the arming check for neutral Roll/Pitch/Yaw sticks 7 Allow Switch reverse 8 Use passthrough for CRSF telemetry 9 Suppress CRSF mode/rate message for ELRS systems 10 Enable multiple receiver support 11 Use Link Quality for RSSI with CRSF 12 Annotate CRSF flight mode with * on disarm 13 Use 420kbaud for ELRS protocol

RC_PROTOCOLS: RC protocols enabled

Note: This parameter is for advanced users

Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.

Bitmask
Bit Meaning 0 All 1 PPM 2 IBUS 3 SBUS 4 SBUS_NI 5 DSM 6 SUMD 7 SRXL 8 SRXL2 9 CRSF 10 ST24 11 FPORT 12 FPORT2 13 FastSBUS 14 DroneCAN 15 Ghost 16 MAVRadio

RC_FS_TIMEOUT: RC Failsafe timeout

RC failsafe will trigger this many seconds after loss of RC

Range	Units
0.5 to 10.0	seconds

RC10_ Parameters

RC10_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC10_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC10_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC10_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC10_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC10_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC11_ Parameters

RC11_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC11_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC11_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC11_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC11_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC11_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC12_ Parameters

RC12_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC12_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC12_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC12_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC12_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC12_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC13_ Parameters

RC13_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC13_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC13_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC13_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC13_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC13_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC14_ Parameters

RC14_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC14_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC14_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC14_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC14_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC14_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC15_ Parameters

RC15_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC15_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC15_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC15_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC15_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC15_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC16_ Parameters

RC16_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC16_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC16_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC16_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC16_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC16_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC1_ Parameters

RC1_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC1_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC1_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC1_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC1_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC1_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC2_ Parameters

RC2_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC2_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC2_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC2_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC2_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC2_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC3_ Parameters

RC3_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC3_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC3_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC3_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC3_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC3_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC4_ Parameters

RC4_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC4_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC4_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC4_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC4_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC4_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC5_ Parameters

RC5_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC5_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC5_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC5_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC5_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC5_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC6_ Parameters

RC6_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC6_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC6_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC6_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC6_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC6_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC7_ Parameters

RC7_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC7_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC7_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC7_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC7_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC7_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC8_ Parameters

RC8_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC8_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC8_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC8_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC8_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC8_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RC9_ Parameters

RC9_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC9_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC9_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC9_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC9_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC9_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 4 RTL 5 Save Trim (4.1 and lower) 7 Save WP 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 19 Gripper Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 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 Enable 41 ArmDisarm (4.1 and lower) 42 SMARTRTL Mode 46 RC Override Enable 50 LearnCruise Speed 51 MANUAL Mode 52 ACRO Mode 53 STEERING Mode 54 HOLD Mode 55 GUIDED Mode 56 LOITER Mode 57 FOLLOW Mode 58 Clear Waypoints 59 Simple Mode 62 Compass Learn 63 Sailboat Tack 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 74 Sailboat motoring 3pos 78 RunCam Control 79 RunCam OSD Control 80 VisoOdom Align 81 Disarm 90 EKF Source Set 94 VTX Power 97 Windvane home heading direction offset 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 103 EKF lane switch attempt 104 EKF yaw reset 105 GPS Disable Yaw 106 Disable Airspeed Use 110 KillIMU3 111 Loweheiser starter 112 SwitchExternalAHRS 113 Retract Mount2 153 ArmDisarm (4.2 and higher) 155 Set steering trim to current servo and RC 156 Torqeedo Clear Err 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 174 Camera Image Tracking 175 Camera Lens 177 Mount LRF enable 201 Roll 202 Pitch 207 MainSail 208 Flap 211 Walking Height 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 218 Loweheiser throttle 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8 308 Scripting9 309 Scripting10 310 Scripting11 311 Scripting12 312 Scripting13 313 Scripting14 314 Scripting15 315 Scripting16

RCMAP_ Parameters

RCMAP_ROLL: Roll channel

Note: This parameter is for advanced users

Note: Reboot required after change

Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Increment	Range
1	1 to 16

RCMAP_PITCH: Pitch channel

Note: This parameter is for advanced users

Note: Reboot required after change

Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Increment	Range
1	1 to 16

RCMAP_THROTTLE: Throttle channel

Note: This parameter is for advanced users

Note: Reboot required after change

Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Increment	Range
1	1 to 16

RCMAP_YAW: Yaw channel

Note: This parameter is for advanced users

Note: Reboot required after change

Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Increment	Range
1	1 to 16

RELAY10_ Parameters

RELAY10_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY10_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY10_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY10_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY11_ Parameters

RELAY11_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY11_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY11_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY11_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY12_ Parameters

RELAY12_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY12_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY12_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY12_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY13_ Parameters

RELAY13_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY13_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY13_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY13_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY14_ Parameters

RELAY14_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY14_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY14_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY14_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY15_ Parameters

RELAY15_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY15_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY15_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY15_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY16_ Parameters

RELAY16_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY16_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY16_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY16_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY1_ Parameters

RELAY1_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY1_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY1_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY1_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY2_ Parameters

RELAY2_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY2_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY2_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY2_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY3_ Parameters

RELAY3_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY3_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY3_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY3_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY4_ Parameters

RELAY4_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY4_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY4_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY4_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY5_ Parameters

RELAY5_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY5_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY5_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY5_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY6_ Parameters

RELAY6_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY6_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY6_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY6_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY7_ Parameters

RELAY7_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY7_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY7_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY7_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY8_ Parameters

RELAY8_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY8_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY8_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY8_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY9_ Parameters

RELAY9_FUNCTION: Relay function

The function the relay channel is mapped to.

Values
Value Meaning 0 None 1 Relay 4 Camera 5 Bushed motor reverse 1 throttle or throttle-left or omni motor 1 6 Bushed motor reverse 2 throttle-right or omni motor 2 7 Bushed motor reverse 3 omni motor 3 8 Bushed motor reverse 4 omni motor 4

RELAY9_PIN: Relay pin

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

Values

Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY9_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY9_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RNGFND1_ Parameters

RNGFND1_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND1_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

RNGFND1_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND1_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND1_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND1_MIN: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND1_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND1_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND1_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND1_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 32767	meters

RNGFND1_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

RNGFND1_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND1_POS_X: X position offset

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND1_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND1_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND1_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND1_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND1_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND1_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND1_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND1_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND1_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND1_RECV_ID: RangeFinder CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND1_SNR_MIN: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND2_ Parameters

RNGFND2_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND2_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

RNGFND2_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND2_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND2_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND2_MIN: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND2_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND2_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND2_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND2_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 32767	meters

RNGFND2_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

RNGFND2_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND2_POS_X: X position offset

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND2_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND2_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND2_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND2_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND2_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND2_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND2_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND2_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND2_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND2_RECV_ID: RangeFinder CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND2_SNR_MIN: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND3_ Parameters

RNGFND3_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND3_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

RNGFND3_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND3_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND3_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND3_MIN: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND3_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND3_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND3_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND3_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 32767	meters

RNGFND3_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

RNGFND3_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND3_POS_X: X position offset

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND3_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND3_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND3_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND3_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND3_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND3_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND3_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND3_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND3_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND3_RECV_ID: RangeFinder CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND3_SNR_MIN: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND4_ Parameters

RNGFND4_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND4_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

RNGFND4_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND4_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND4_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND4_MIN: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND4_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND4_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND4_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND4_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 32767	meters

RNGFND4_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

RNGFND4_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND4_POS_X: X position offset

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND4_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND4_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND4_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND4_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND4_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND4_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND4_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND4_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND4_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND4_RECV_ID: RangeFinder CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND4_SNR_MIN: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND5_ Parameters

RNGFND5_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND5_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

RNGFND5_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND5_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND5_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND5_MIN: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND5_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND5_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND5_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND5_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 32767	meters

RNGFND5_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

RNGFND5_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND5_POS_X: X position offset

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND5_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND5_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND5_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND5_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND5_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND5_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND5_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND5_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND5_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND5_RECV_ID: RangeFinder CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND5_SNR_MIN: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND6_ Parameters

RNGFND6_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND6_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

RNGFND6_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND6_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND6_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND6_MIN: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND6_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND6_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND6_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND6_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 32767	meters

RNGFND6_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

RNGFND6_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND6_POS_X: X position offset

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND6_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND6_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND6_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND6_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND6_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND6_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND6_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND6_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND6_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND6_RECV_ID: RangeFinder CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND6_SNR_MIN: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND7_ Parameters

RNGFND7_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND7_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

RNGFND7_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND7_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND7_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND7_MIN: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND7_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND7_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND7_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND7_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 32767	meters

RNGFND7_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

RNGFND7_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND7_POS_X: X position offset

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND7_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND7_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND7_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND7_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND7_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND7_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND7_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND7_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND7_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND7_RECV_ID: RangeFinder CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND7_SNR_MIN: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND8_ Parameters

RNGFND8_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND8_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

RNGFND8_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND8_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND8_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND8_MIN: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND8_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND8_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND8_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND8_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 32767	meters

RNGFND8_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

RNGFND8_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND8_POS_X: X position offset

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND8_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND8_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND8_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND8_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND8_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND8_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND8_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND8_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND8_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND8_RECV_ID: RangeFinder CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND8_SNR_MIN: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND9_ Parameters

RNGFND9_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND9_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

RNGFND9_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND9_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND9_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND9_MIN: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND9_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND9_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND9_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND9_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 32767	meters

RNGFND9_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

RNGFND9_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND9_POS_X: X position offset

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND9_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND9_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFND9_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND9_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND9_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND9_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND9_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND9_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND9_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND9_RECV_ID: RangeFinder CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND9_SNR_MIN: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFNDA_ Parameters

RNGFNDA_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFNDA_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

RNGFNDA_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFNDA_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFNDA_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFNDA_MIN: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFNDA_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFNDA_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFNDA_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFNDA_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 32767	meters

RNGFNDA_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

RNGFNDA_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFNDA_POS_X: X position offset

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFNDA_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFNDA_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 to 5	meters

RNGFNDA_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFNDA_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFNDA_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFNDA_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFNDA_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFNDA_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFNDA_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFNDA_RECV_ID: RangeFinder CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFNDA_SNR_MIN: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RPM1_ Parameters

RPM1_TYPE: RPM type

What type of RPM sensor is connected

Values
Value Meaning 0 None 1 Not Used 2 GPIO 3 EFI 4 Harmonic Notch 5 ESC Telemetry Motors Bitmask 6 Generator 7 DroneCAN

RPM1_SCALING: RPM scaling

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM1_MAX: Maximum RPM

Maximum RPM to report. Only used on type = GPIO.

Increment
1

RPM1_MIN: Minimum RPM

Minimum RPM to report. Only used on type = GPIO.

Increment
1

RPM1_MIN_QUAL: Minimum Quality

Note: This parameter is for advanced users

Minimum data quality to be used

Increment
0.1

RPM1_PIN: Input pin number

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

RPM1_ESC_MASK: Bitmask of ESC telemetry channels to average

Note: This parameter is for advanced users

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

Bitmask
Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16

RPM1_ESC_INDEX: ESC Telemetry Index to write RPM to

Note: This parameter is for advanced users

ESC Telemetry Index to write RPM to. Use 0 to disable.

Increment	Range
1	0 to 10

RPM1_DC_ID: DroneCAN Sensor ID

Note: This parameter is for advanced users

DroneCAN sensor ID to assign to this backend

Increment	Range
1	-1 to 10

RPM2_ Parameters

RPM2_TYPE: RPM type

What type of RPM sensor is connected

Values
Value Meaning 0 None 1 Not Used 2 GPIO 3 EFI 4 Harmonic Notch 5 ESC Telemetry Motors Bitmask 6 Generator 7 DroneCAN

RPM2_SCALING: RPM scaling

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM2_MAX: Maximum RPM

Maximum RPM to report. Only used on type = GPIO.

Increment
1

RPM2_MIN: Minimum RPM

Minimum RPM to report. Only used on type = GPIO.

Increment
1

RPM2_MIN_QUAL: Minimum Quality

Note: This parameter is for advanced users

Minimum data quality to be used

Increment
0.1

RPM2_PIN: Input pin number

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

RPM2_ESC_MASK: Bitmask of ESC telemetry channels to average

Note: This parameter is for advanced users

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

Bitmask
Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16

RPM2_ESC_INDEX: ESC Telemetry Index to write RPM to

Note: This parameter is for advanced users

ESC Telemetry Index to write RPM to. Use 0 to disable.

Increment	Range
1	0 to 10

RPM2_DC_ID: DroneCAN Sensor ID

Note: This parameter is for advanced users

DroneCAN sensor ID to assign to this backend

Increment	Range
1	-1 to 10

RPM3_ Parameters

RPM3_TYPE: RPM type

What type of RPM sensor is connected

Values
Value Meaning 0 None 1 Not Used 2 GPIO 3 EFI 4 Harmonic Notch 5 ESC Telemetry Motors Bitmask 6 Generator 7 DroneCAN

RPM3_SCALING: RPM scaling

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM3_MAX: Maximum RPM

Maximum RPM to report. Only used on type = GPIO.

Increment
1

RPM3_MIN: Minimum RPM

Minimum RPM to report. Only used on type = GPIO.

Increment
1

RPM3_MIN_QUAL: Minimum Quality

Note: This parameter is for advanced users

Minimum data quality to be used

Increment
0.1

RPM3_PIN: Input pin number

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

RPM3_ESC_MASK: Bitmask of ESC telemetry channels to average

Note: This parameter is for advanced users

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

Bitmask
Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16

RPM3_ESC_INDEX: ESC Telemetry Index to write RPM to

Note: This parameter is for advanced users

ESC Telemetry Index to write RPM to. Use 0 to disable.

Increment	Range
1	0 to 10

RPM3_DC_ID: DroneCAN Sensor ID

Note: This parameter is for advanced users

DroneCAN sensor ID to assign to this backend

Increment	Range
1	-1 to 10

RPM4_ Parameters

RPM4_TYPE: RPM type

What type of RPM sensor is connected

Values
Value Meaning 0 None 1 Not Used 2 GPIO 3 EFI 4 Harmonic Notch 5 ESC Telemetry Motors Bitmask 6 Generator 7 DroneCAN

RPM4_SCALING: RPM scaling

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM4_MAX: Maximum RPM

Maximum RPM to report. Only used on type = GPIO.

Increment
1

RPM4_MIN: Minimum RPM

Minimum RPM to report. Only used on type = GPIO.

Increment
1

RPM4_MIN_QUAL: Minimum Quality

Note: This parameter is for advanced users

Minimum data quality to be used

Increment
0.1

RPM4_PIN: Input pin number

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

RPM4_ESC_MASK: Bitmask of ESC telemetry channels to average

Note: This parameter is for advanced users

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

Bitmask
Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16

RPM4_ESC_INDEX: ESC Telemetry Index to write RPM to

Note: This parameter is for advanced users

ESC Telemetry Index to write RPM to. Use 0 to disable.

Increment	Range
1	0 to 10

RPM4_DC_ID: DroneCAN Sensor ID

Note: This parameter is for advanced users

DroneCAN sensor ID to assign to this backend

Increment	Range
1	-1 to 10

RSSI_ Parameters

RSSI_TYPE: RSSI Type

Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.

Values
Value Meaning 0 Disabled 1 AnalogPin 2 RCChannelPwmValue 3 ReceiverProtocol 4 PWMInputPin 5 TelemetryRadioRSSI

RSSI_ANA_PIN: Receiver RSSI sensing pin

Pin used to read the RSSI voltage or PWM value. Analog Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

Values
Value Meaning 8 V5 Nano 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

RSSI_PIN_LOW: RSSI pin's lowest voltage

RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V.

Increment	Range	Units
0.01	0 to 5.0	volt

RSSI_PIN_HIGH: RSSI pin's highest voltage

RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V.

Increment	Range	Units
0.01	0 to 5.0	volt

RSSI_CHANNEL: Receiver RSSI channel number

The channel number where RSSI will be output by the radio receiver (5 and above).

Range
0 to 16

RSSI_CHAN_LOW: RSSI PWM low value

PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH

Range	Units
0 to 2000	PWM in microseconds

RSSI_CHAN_HIGH: Receiver RSSI PWM high value

PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW

Range	Units
0 to 2000	PWM in microseconds

SAIL_ Parameters

SAIL_ENABLE: Enable Sailboat

Note: Reboot required after change

This enables Sailboat functionality

Values
Value Meaning 0 Disable 1 Enable

SAIL_ANGLE_MIN: Sail min angle

Mainsheet tight, angle between centerline and boom

Increment	Range	Units
1	0 to 90	degrees

SAIL_ANGLE_MAX: Sail max angle

Mainsheet loose, angle between centerline and boom. For direct-control rotating masts, the rotation angle at SERVOx_MAX/_MIN; for rotating masts, this value can exceed 90 degrees if the linkages can physically rotate the mast past that angle.

Increment	Range	Units
1	0 to 90	degrees

SAIL_ANGLE_IDEAL: Sail ideal angle

Ideal angle between sail and apparent wind

Increment	Range	Units
1	0 to 90	degrees

SAIL_HEEL_MAX: Sailing maximum heel angle

When in auto sail trim modes the heel will be limited to this value using PID control

Increment	Range	Units
1	0 to 90	degrees

SAIL_NO_GO_ANGLE: Sailing no go zone angle

The typical closest angle to the wind the vehicle will sail at. the vehicle will sail at this angle when going upwind

Increment	Range	Units
1	0 to 90	degrees

SAIL_WNDSPD_MIN: Sailboat minimum wind speed to sail in

Sailboat minimum wind speed to continue sail in, at lower wind speeds the sailboat will motor if one is fitted

Increment	Range	Units
0.1	0 to 5	meters per second

SAIL_XTRACK_MAX: Sailing vehicle max cross track error

The sail boat will tack when it reaches this cross track error, defines a corridor of 2 times this value wide, 0 disables

Increment	Range	Units
1	5 to 25	meters

SAIL_LOIT_RADIUS: Loiter radius

When in sailing modes the vehicle will keep moving within this loiter radius

Increment	Range	Units
1	0 to 20	meters

SCHED_ Parameters

SCHED_DEBUG: Scheduler debug level

Note: This parameter is for advanced users

Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.

Values
Value Meaning 0 Disabled 2 ShowSlips 3 ShowOverruns

SCHED_LOOP_RATE: Scheduling main loop rate

Note: This parameter is for advanced users

Note: Reboot required after change

This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.

Range	Units
50 to 400	hertz

SCHED_OPTIONS: Scheduling options

Note: This parameter is for advanced users

This controls optional aspects of the scheduler.

Bitmask
Bit Meaning 0 Enable per-task perf info

SCR_ Parameters

SCR_ENABLE: Enable Scripting

Note: This parameter is for advanced users

Note: Reboot required after change

Controls if scripting is enabled

Values
Value Meaning 0 None 1 Lua Scripts

SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count

Note: This parameter is for advanced users

The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time

Increment	Range
10000	1000 to 1000000

SCR_HEAP_SIZE: Scripting Heap Size

Note: This parameter is for advanced users

Note: Reboot required after change

Amount of memory available for scripting

Increment	Range
1024	1024 to 1048576

SCR_DEBUG_OPTS: Scripting Debug Level

Note: This parameter is for advanced users

Debugging options

Bitmask
Bit Meaning 0 No Scripts to run message if all scripts have stopped 1 Runtime messages for memory usage and execution time 2 Suppress logging scripts to dataflash 3 log runtime memory usage and execution time 4 Disable pre-arm check 5 Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm 6 Disable heap expansion on allocation failure

SCR_USER1: Scripting User Parameter1

General purpose user variable input for scripts

SCR_USER2: Scripting User Parameter2

General purpose user variable input for scripts

SCR_USER3: Scripting User Parameter3

General purpose user variable input for scripts

SCR_USER4: Scripting User Parameter4

General purpose user variable input for scripts

SCR_USER5: Scripting User Parameter5

General purpose user variable input for scripts

SCR_USER6: Scripting User Parameter6

General purpose user variable input for scripts

SCR_DIR_DISABLE: Directory disable

Note: This parameter is for advanced users

Note: Reboot required after change

This will stop scripts being loaded from the given locations

Bitmask
Bit Meaning 0 ROMFS 1 APM/scripts

SCR_LD_CHECKSUM: Loaded script checksum

Note: This parameter is for advanced users

Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables

SCR_RUN_CHECKSUM: Running script checksum

Note: This parameter is for advanced users

Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables

SCR_THD_PRIORITY: Scripting thread priority

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system.

Values
Value Meaning 0 Normal 1 IO Priority 2 Storage Priority 3 UART Priority 4 I2C Priority 5 SPI Priority 6 Timer Priority 7 Main Priority 8 Boost Priority

SCR_SDEV_EN: Scripting serial device enable

Note: This parameter is for advanced users

Note: Reboot required after change

Enable scripting serial devices

Values
Value Meaning 0 Disabled 1 Enabled

SCR_SDEV1_PROTO: Serial protocol of scripting serial device

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of scripting serial device

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SCR_SDEV2_PROTO: Serial protocol of scripting serial device

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of scripting serial device

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SCR_SDEV3_PROTO: Serial protocol of scripting serial device

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of scripting serial device

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SERIAL Parameters

SERIAL0_BAUD: Serial0 baud rate

The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

SERIAL0_PROTOCOL: Console protocol selection

Note: Reboot required after change

Control what protocol to use on the console.

Values
Value Meaning 1 MAVLink1 2 MAVLink2

SERIAL1_PROTOCOL: Telem1 protocol selection

Note: Reboot required after change

Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SERIAL1_BAUD: Telem1 Baud Rate

The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

SERIAL2_PROTOCOL: Telemetry 2 protocol selection

Note: Reboot required after change

Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SERIAL2_BAUD: Telemetry 2 Baud Rate

The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection

Note: Reboot required after change

Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SERIAL3_BAUD: Serial 3 (GPS) Baud Rate

The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

SERIAL4_PROTOCOL: Serial4 protocol selection

Note: Reboot required after change

Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SERIAL4_BAUD: Serial 4 Baud Rate

The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

SERIAL5_PROTOCOL: Serial5 protocol selection

Note: Reboot required after change

Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SERIAL5_BAUD: Serial 5 Baud Rate

The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

SERIAL6_PROTOCOL: Serial6 protocol selection

Note: Reboot required after change

Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SERIAL6_BAUD: Serial 6 Baud Rate

The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

SERIAL1_OPTIONS: Telem1 options

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL2_OPTIONS: Telem2 options

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL3_OPTIONS: Serial3 options

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL4_OPTIONS: Serial4 options

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL5_OPTIONS: Serial5 options

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL6_OPTIONS: Serial6 options

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL_PASS1: Serial passthru first port

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

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

SERIAL_PASS2: Serial passthru second port

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port. This parameter is normally reset to -1 on reboot, disabling passthrough. If SERIAL_PASSTIMO is set to -1 then it is not reset on reboot.

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

SERIAL_PASSTIMO: Serial passthru timeout

Note: This parameter is for advanced users

This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout. A value of -1 means no timeout and the SERIAL_PASS2 parameter is not reset on reboot.

Range	Units
-1 to 120	seconds

SERIAL7_PROTOCOL: Serial7 protocol selection

Note: Reboot required after change

Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SERIAL7_BAUD: Serial 7 Baud Rate

The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

SERIAL7_OPTIONS: Serial7 options

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL8_PROTOCOL: Serial8 protocol selection

Note: Reboot required after change

Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SERIAL8_BAUD: Serial 8 Baud Rate

The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

SERIAL8_OPTIONS: Serial8 options

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL9_PROTOCOL: Serial9 protocol selection

Note: Reboot required after change

Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SERIAL9_BAUD: Serial 9 Baud Rate

The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

SERIAL9_OPTIONS: Serial9 options

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERVO Parameters

SERVO_RATE: Servo default output rate

Note: This parameter is for advanced users

Default output rate in Hz for all PWM outputs.

Range	Units
25 to 400	hertz

SERVO_DSHOT_RATE: Servo DShot output rate

Note: This parameter is for advanced users

DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.

Values
Value Meaning 0 1Khz 1 loop-rate 2 double loop-rate 3 triple loop-rate 4 quadruple loop rate

SERVO_DSHOT_ESC: Servo DShot ESC type

Note: This parameter is for advanced users

DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation.

Values
Value Meaning 0 None 1 BLHeli32/Kiss/AM32 2 BLHeli_S/BlueJay 3 BLHeli32/AM32/Kiss+EDT 4 BLHeli_S/BlueJay+EDT

SERVO_GPIO_MASK: Servo GPIO mask

Note: This parameter is for advanced users

Note: Reboot required after change

Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin

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 16 Servo 17 17 Servo 18 18 Servo 19 19 Servo 20 20 Servo 21 21 Servo 22 22 Servo 23 23 Servo 24 24 Servo 25 25 Servo 26 26 Servo 27 27 Servo 28 28 Servo 29 29 Servo 30 30 Servo 31 31 Servo 32

SERVO_RC_FS_MSK: Servo RC Failsafe Mask

Note: This parameter is for advanced users

Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe.

Bitmask
Bit Meaning 0 RCIN1Scaled 1 RCIN2Scaled 2 RCIN3Scaled 3 RCIN4Scaled 4 RCIN5Scaled 5 RCIN6Scaled 6 RCIN7Scaled 7 RCIN8Scaled 8 RCIN9Scaled 9 RCIN10Scaled 10 RCIN11Scaled 11 SRCIN12Scaled 12 RCIN13Scaled 13 RCIN14Scaled 14 RCIN15Scaled 15 RCIN16Scaled

SERVO_32_ENABLE: Enable outputs 17 to 31

Note: This parameter is for advanced users

This allows for up to 32 outputs, enabling parameters for outputs above 16

Values
Value Meaning 0 Disabled 1 Enabled

SERVO10_ Parameters

SERVO10_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO10_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO10_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO10_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO10_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO11_ Parameters

SERVO11_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO11_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO11_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO11_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO11_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO12_ Parameters

SERVO12_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO12_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO12_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO12_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO12_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO13_ Parameters

SERVO13_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO13_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO13_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO13_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO13_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO14_ Parameters

SERVO14_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO14_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO14_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO14_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO14_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO15_ Parameters

SERVO15_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO15_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO15_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO15_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO15_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO16_ Parameters

SERVO16_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO16_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO16_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO16_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO16_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO17_ Parameters

SERVO17_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO17_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO17_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO17_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO17_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO18_ Parameters

SERVO18_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO18_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO18_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO18_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO18_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO19_ Parameters

SERVO19_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO19_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO19_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO19_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO19_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO1_ Parameters

SERVO1_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO1_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO1_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO1_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO1_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO20_ Parameters

SERVO20_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO20_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO20_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO20_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO20_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO21_ Parameters

SERVO21_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO21_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO21_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO21_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO21_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO22_ Parameters

SERVO22_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO22_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO22_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO22_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO22_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO23_ Parameters

SERVO23_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO23_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO23_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO23_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO23_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO24_ Parameters

SERVO24_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO24_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO24_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO24_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO24_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO25_ Parameters

SERVO25_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO25_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO25_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO25_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO25_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO26_ Parameters

SERVO26_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO26_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO26_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO26_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO26_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO27_ Parameters

SERVO27_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO27_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO27_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO27_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO27_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO28_ Parameters

SERVO28_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO28_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO28_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO28_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO28_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO29_ Parameters

SERVO29_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO29_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO29_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO29_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO29_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO2_ Parameters

SERVO2_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO2_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO2_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO2_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO2_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO30_ Parameters

SERVO30_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO30_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO30_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO30_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO30_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO31_ Parameters

SERVO31_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO31_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO31_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO31_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO31_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO32_ Parameters

SERVO32_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO32_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO32_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO32_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO32_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO3_ Parameters

SERVO3_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO3_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO3_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO3_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO3_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO4_ Parameters

SERVO4_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO4_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO4_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO4_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO4_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO5_ Parameters

SERVO5_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO5_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO5_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO5_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO5_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO6_ Parameters

SERVO6_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO6_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO6_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO6_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO6_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO7_ Parameters

SERVO7_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO7_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO7_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO7_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO7_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO8_ Parameters

SERVO8_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO8_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO8_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO8_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO8_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO9_ Parameters

SERVO9_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO9_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO9_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO9_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO9_FUNCTION: Servo output function

Note: Reboot required after change

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 26 GroundSteering 28 Gripper 33 Motor1 34 Motor2 35 Motor3 36 Motor4 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 70 Throttle 73 ThrottleLeft 74 ThrottleRight 88 Winch 89 Main Sail 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO_BLH_ Parameters

SERVO_BLH_MASK: BLHeli Channel Bitmask

Note: This parameter is for advanced users

Note: Reboot required after change

Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)

Bitmask

Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16 16 Channel 17 17 Channel 18 18 Channel 19 19 Channel 20 20 Channel 21 21 Channel 22 22 Channel 23 23 Channel 24 24 Channel 25 25 Channel 26 26 Channel 27 27 Channel 28 28 Channel 29 29 Channel 30 30 Channel 31 31 Channel 32

SERVO_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors

Note: Reboot required after change

If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors

Values
Value Meaning 0 Disabled 1 Enabled

SERVO_BLH_TEST: BLHeli internal interface test

Note: This parameter is for advanced users

Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.

Values
Value Meaning 0 Disabled 1 TestMotor1 2 TestMotor2 3 TestMotor3 4 TestMotor4 5 TestMotor5 6 TestMotor6 7 TestMotor7 8 TestMotor8

SERVO_BLH_TMOUT: BLHeli protocol timeout

This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout

Range	Units
0 to 300	seconds

SERVO_BLH_TRATE: BLHeli telemetry rate

This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests

Range	Units
0 to 500	hertz

SERVO_BLH_DEBUG: BLHeli debug level

When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.

Values
Value Meaning 0 Disabled 1 Enabled

SERVO_BLH_OTYPE: BLHeli output type override

Note: This parameter is for advanced users

Note: Reboot required after change

When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.

Values
Value Meaning 0 None 1 OneShot 2 OneShot125 3 Brushed 4 DShot150 5 DShot300 6 DShot600 7 DShot1200

SERVO_BLH_PORT: Control port

Note: This parameter is for advanced users

This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on.

Values
Value Meaning 0 Console 1 Mavlink Serial Channel1 2 Mavlink Serial Channel2 3 Mavlink Serial Channel3 4 Mavlink Serial Channel4 5 Mavlink Serial Channel5

SERVO_BLH_POLES: BLHeli Motor Poles

Note: This parameter is for advanced users

Note: Reboot required after change

This allows calculation of true RPM from ESC's eRPM. The default is 14.

Range
1 to 127

SERVO_BLH_3DMASK: BLHeli bitmask of 3D channels

Note: This parameter is for advanced users

Note: Reboot required after change

Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Note that setting an ESC as reversible with this option on AM32 will result in the forward direction of the ESC changing. You can combine with parameter with the SERVO_BLH_RVMASK parameter to maintain the same direction when the ESC is in 3D mode as it has in unidirectional (non-3D) mode.

Bitmask

Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16 16 Channel 17 17 Channel 18 18 Channel 19 19 Channel 20 20 Channel 21 21 Channel 22 22 Channel 23 23 Channel 24 24 Channel 25 25 Channel 26 26 Channel 27 27 Channel 28 28 Channel 29 29 Channel 30 30 Channel 31 31 Channel 32

SERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels

Note: This parameter is for advanced users

Note: Reboot required after change

Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.

Bitmask

Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16 16 Channel 17 17 Channel 18 18 Channel 19 19 Channel 20 20 Channel 21 21 Channel 22 22 Channel 23 23 Channel 24 24 Channel 25 25 Channel 26 26 Channel 27 27 Channel 28 28 Channel 29 29 Channel 30 30 Channel 31 31 Channel 32

SERVO_BLH_RVMASK: BLHeli bitmask of reversed channels

Note: This parameter is for advanced users

Note: Reboot required after change

Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction. Note that when combined with SERVO_BLH_3DMASK this will change what direction is considered to be forward.

Bitmask

Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16 16 Channel 17 17 Channel 18 18 Channel 19 19 Channel 20 20 Channel 21 21 Channel 22 22 Channel 23 23 Channel 24 24 Channel 25 25 Channel 26 26 Channel 27 27 Channel 28 28 Channel 29 29 Channel 30 30 Channel 31 31 Channel 32

SERVO_FTW_ Parameters

SERVO_FTW_MASK: Servo channel output bitmask

Note: Reboot required after change

Servo channel mask specifying FETtec ESC output.

Bitmask
Bit Meaning 0 SERVO1 1 SERVO2 2 SERVO3 3 SERVO4 4 SERVO5 5 SERVO6 6 SERVO7 7 SERVO8 8 SERVO9 9 SERVO10 10 SERVO11 11 SERVO12

SERVO_FTW_RVMASK: Servo channel reverse rotation bitmask

Servo channel mask to reverse rotation of FETtec ESC outputs.

Bitmask
Bit Meaning 0 SERVO1 1 SERVO2 2 SERVO3 3 SERVO4 4 SERVO5 5 SERVO6 6 SERVO7 7 SERVO8 8 SERVO9 9 SERVO10 10 SERVO11 11 SERVO12

SERVO_FTW_POLES: Nr. electrical poles

Number of motor electrical poles

Range
2 to 50

SERVO_ROB_ Parameters

SERVO_ROB_POSMIN: Robotis servo position min

Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095

Range
0 to 4095

SERVO_ROB_POSMAX: Robotis servo position max

Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095

Range
0 to 4095

SERVO_SBUS_ Parameters

SERVO_SBUS_RATE: SBUS default output rate

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz.

Range	Units
25 to 250	hertz

SERVO_VOLZ_ Parameters

SERVO_VOLZ_MASK: Channel Bitmask

Enable of volz servo protocol to specific channels

Bitmask
Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16 16 Channel17 17 Channel18 18 Channel19 19 Channel20 20 Channel21 21 Channel22 22 Channel23 23 Channel24 24 Channel25 25 Channel26 26 Channel27 28 Channel29 29 Channel30 30 Channel31 31 Channel32

SERVO_VOLZ_RANGE: Range of travel

Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator.

Units
degrees

Simulation Parameters

SIM_ACC1_BIAS_X: Accel 1 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC1_BIAS_Y: Accel 1 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC1_BIAS_Z: Accel 1 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC1_RND: Accel 1 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC1_SCAL_X: Accel 1 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC1_SCAL_Y: Accel 1 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC1_SCAL_Z: Accel 1 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACC2_BIAS_X: Accel 2 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC2_BIAS_Y: Accel 2 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC2_BIAS_Z: Accel 2 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC2_RND: Accel 2 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC2_SCAL_X: Accel 2 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC2_SCAL_Y: Accel 2 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC2_SCAL_Z: Accel 2 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACC3_BIAS_X: Accel 3 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC3_BIAS_Y: Accel 3 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC3_BIAS_Z: Accel 3 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC3_RND: Accel 3 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC3_SCAL_X: Accel 3 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC3_SCAL_Y: Accel 3 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC3_SCAL_Z: Accel 3 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACC4_BIAS_X: Accel 4 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC4_BIAS_Y: Accel 4 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC4_BIAS_Z: Accel 4 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC4_RND: Accel 4 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC4_SCAL_X: Accel 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC4_SCAL_Y: Accel 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC4_SCAL_Z: Accel 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACC5_BIAS_X: Accel 5 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC5_BIAS_Y: Accel 5 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC5_BIAS_Z: Accel 5 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC5_RND: Accel 5 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC5_SCAL_X: Accel 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC5_SCAL_Y: Accel 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC5_SCAL_Z: Accel 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACCEL1_FAIL: ACCEL1 Failure

Note: This parameter is for advanced users

Simulated failure of ACCEL1

Values
Value Meaning 0 Disabled 1 ACCEL1 Failure

SIM_ACCEL2_FAIL: ACCEL2 Failure

Note: This parameter is for advanced users

Simulated failure of ACCEL2

Values
Value Meaning 0 Disabled 1 ACCEL2 Failure

SIM_ACCEL3_FAIL: ACCEL3 Failure

Note: This parameter is for advanced users

Simulated failure of ACCEL3

Values
Value Meaning 0 Disabled 1 ACCEL3 Failure

SIM_ACCEL4_FAIL: ACCEL4 Failure

Note: This parameter is for advanced users

Simulated failure of ACCEL4

Values
Value Meaning 0 Disabled 1 ACCEL4 Failure

SIM_ACCEL5_FAIL: ACCEL5 Failure

Note: This parameter is for advanced users

Simulated failure of ACCEL5

Values
Value Meaning 0 Disabled 1 ACCEL5 Failure

SIM_ACC_FAIL_MSK: Accelerometer Failure Mask

Note: This parameter is for advanced users

Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

Values
Value Meaning 0 Disabled 1 Readings stopped

SIM_ACC_FILE_RW: Accelerometer data to/from files

Read and write accelerometer data to/from files

Values
Value Meaning 0 Stop writing data 1 Read data from file 2 Write data to a file 3 Read data from file and stop on EOF

SIM_ACC_TRIM_X: Accelerometer trim

Note: This parameter is for advanced users

Trim applied to simulated accelerometer (X-axis)

SIM_ACC_TRIM_Y: Accelerometer trim

Note: This parameter is for advanced users

Trim applied to simulated accelerometer (Y-axis)

SIM_ACC_TRIM_Z: Accelerometer trim

Note: This parameter is for advanced users

Trim applied to simulated accelerometer (Z-axis)

SIM_ADSB_ALT: ADSB altitude of another aircraft

Simulated ADSB altitude of another aircraft

Units
meters

SIM_ADSB_COUNT: Number of ADSB aircrafts

Total number of ADSB simulated aircraft

SIM_ADSB_RADIUS: ADSB radius stddev of another aircraft

Simulated standard deviation of radius in ADSB of another aircraft

Units
meters

SIM_ADSB_TX: ADSB transmit enable

ADSB transceiever enable and disable

Values
Value Meaning 0 Transceiever disable 1 Transceiever enable

SIM_ADSB_TYPES: Simulated ADSB Type mask

Note: This parameter is for advanced users

specifies which simulated ADSB types are active

Bitmask
Bit Meaning 0 MAVLink 3 SageTechMXS

SIM_AIS_COUNT: Number of AIS vessels

Total number of AIS simulated vessels

SIM_AIS_RADIUS: AIS radius stddev of vessels

Simulated standard deviation of radius in AIS of a vessel

Units
meters

SIM_ARSPD2_FAIL: Airspeed sensor failure

Note: This parameter is for advanced users

Simulates Airspeed sensor 1 failure

Values
Value Meaning 0 Disabled 1 Enabled

SIM_ARSPD2_FAILP: Airspeed sensor failure pressure

Note: This parameter is for advanced users

Simulated airspeed sensor failure pressure

Units
pascal

SIM_ARSPD2_OFS: Airspeed sensor offset

Note: This parameter is for advanced users

Simulated Airspeed sensor offset

Units
meters per second

SIM_ARSPD2_PITOT: Airspeed pitot tube failure pressure

Note: This parameter is for advanced users

Simulated airspeed sensor pitot tube failure pressure

Units
pascal

SIM_ARSPD2_RATIO: Airspeed ratios

Note: This parameter is for advanced users

Simulated airspeed sensor ratio

SIM_ARSPD2_RND: Airspeed sensor noise

Note: This parameter is for advanced users

Simulated Airspeed sensor noise

Units
pascal

SIM_ARSPD2_SIGN: Airspeed signflip

Note: This parameter is for advanced users

Simulated airspeed sensor with reversed pitot/static connections

Values
Value Meaning 0 Disabled 1 Enabled

SIM_ARSPD_FAIL: Airspeed sensor failure

Note: This parameter is for advanced users

Simulates Airspeed sensor 1 failure

Values
Value Meaning 0 Disabled 1 Enabled

SIM_ARSPD_FAILP: Airspeed sensor failure pressure

Note: This parameter is for advanced users

Simulated airspeed sensor failure pressure

Units
pascal

SIM_ARSPD_OFS: Airspeed sensor offset

Note: This parameter is for advanced users

Simulated Airspeed sensor offset

Units
meters per second

SIM_ARSPD_PITOT: Airspeed pitot tube failure pressure

Note: This parameter is for advanced users

Simulated airspeed sensor pitot tube failure pressure

Units
pascal

SIM_ARSPD_RATIO: Airspeed ratios

Note: This parameter is for advanced users

Simulated airspeed sensor ratio

SIM_ARSPD_RND: Airspeed sensor noise

Note: This parameter is for advanced users

Simulated Airspeed sensor noise

Units
pascal

SIM_ARSPD_SIGN: Airspeed signflip

Note: This parameter is for advanced users

Simulated airspeed sensor with reversed pitot/static connections

Values
Value Meaning 0 Disabled 1 Enabled

SIM_BAR2_DELAY: Barometer delay

Note: This parameter is for advanced users

Barometer data time delay

Units
milliseconds

SIM_BAR2_DISABLE: Barometer disable

Note: This parameter is for advanced users

Disable barometer in SITL

Values
Value Meaning 0 Disable 1 Enable

SIM_BAR2_DRIFT: Barometer altitude drift

Note: This parameter is for advanced users

Barometer altitude drifts at this rate

Units
meters per second

SIM_BAR2_FREEZE: Barometer freeze

Note: This parameter is for advanced users

Freeze barometer to last recorded altitude

SIM_BAR2_GLITCH: Barometer glitch

Note: This parameter is for advanced users

Barometer glitch height in SITL

Units
meters

SIM_BAR2_RND: Barometer noise

Note: This parameter is for advanced users

Barometer noise in height

Units
meters

SIM_BAR2_WCF_BAK: Wind coefficient backward

Note: This parameter is for advanced users

Barometer wind coefficient direction backward in SITL

SIM_BAR2_WCF_DN: Wind coefficient down

Note: This parameter is for advanced users

Barometer wind coefficient direction down in SITL

SIM_BAR2_WCF_FWD: Wind coefficient forward

Note: This parameter is for advanced users

Barometer wind coefficient direction forward in SITL

SIM_BAR2_WCF_LFT: Wind coefficient left

Note: This parameter is for advanced users

Barometer wind coefficient direction left in SITL

SIM_BAR2_WCF_RGT: Wind coefficient right

Note: This parameter is for advanced users

Barometer wind coefficient direction right in SITL

SIM_BAR2_WCF_UP: Wind coefficient up

Note: This parameter is for advanced users

Barometer wind coefficient direction up in SITL

SIM_BAR3_DELAY: Barometer delay

Note: This parameter is for advanced users

Barometer data time delay

Units
milliseconds

SIM_BAR3_DISABLE: Barometer disable

Note: This parameter is for advanced users

Disable barometer in SITL

Values
Value Meaning 0 Disable 1 Enable

SIM_BAR3_DRIFT: Barometer altitude drift

Note: This parameter is for advanced users

Barometer altitude drifts at this rate

Units
meters per second

SIM_BAR3_FREEZE: Barometer freeze

Note: This parameter is for advanced users

Freeze barometer to last recorded altitude

SIM_BAR3_GLITCH: Barometer glitch

Note: This parameter is for advanced users

Barometer glitch height in SITL

Units
meters

SIM_BAR3_RND: Barometer noise

Note: This parameter is for advanced users

Barometer noise in height

Units
meters

SIM_BAR3_WCF_BAK: Wind coefficient backward

Note: This parameter is for advanced users

Barometer wind coefficient direction backward in SITL

SIM_BAR3_WCF_DN: Wind coefficient down

Note: This parameter is for advanced users

Barometer wind coefficient direction down in SITL

SIM_BAR3_WCF_FWD: Wind coefficient forward

Note: This parameter is for advanced users

Barometer wind coefficient direction forward in SITL

SIM_BAR3_WCF_LFT: Wind coefficient left

Note: This parameter is for advanced users

Barometer wind coefficient direction left in SITL

SIM_BAR3_WCF_RGT: Wind coefficient right

Note: This parameter is for advanced users

Barometer wind coefficient direction right in SITL

SIM_BAR3_WCF_UP: Wind coefficient up

Note: This parameter is for advanced users

Barometer wind coefficient direction up in SITL

SIM_BARO_COUNT: Baro count

Number of simulated baros to create in SITL

Range
0 to 3

SIM_BARO_DELAY: Barometer delay

Note: This parameter is for advanced users

Barometer data time delay

Units
milliseconds

SIM_BARO_DISABLE: Barometer disable

Note: This parameter is for advanced users

Disable barometer in SITL

Values
Value Meaning 0 Disable 1 Enable

SIM_BARO_DRIFT: Barometer altitude drift

Note: This parameter is for advanced users

Barometer altitude drifts at this rate

Units
meters per second

SIM_BARO_FREEZE: Barometer freeze

Note: This parameter is for advanced users

Freeze barometer to last recorded altitude

SIM_BARO_GLITCH: Barometer glitch

Note: This parameter is for advanced users

Barometer glitch height in SITL

Units
meters

SIM_BARO_RND: Barometer noise

Note: This parameter is for advanced users

Barometer noise in height

Units
meters

SIM_BARO_WCF_BAK: Wind coefficient backward

Note: This parameter is for advanced users

Barometer wind coefficient direction backward in SITL

SIM_BARO_WCF_DN: Wind coefficient down

Note: This parameter is for advanced users

Barometer wind coefficient direction down in SITL

SIM_BARO_WCF_FWD: Wind coefficient forward

Note: This parameter is for advanced users

Barometer wind coefficient direction forward in SITL

SIM_BARO_WCF_LFT: Wind coefficient left

Note: This parameter is for advanced users

Barometer wind coefficient direction left in SITL

SIM_BARO_WCF_RGT: Wind coefficient right

Note: This parameter is for advanced users

Barometer wind coefficient direction right in SITL

SIM_BARO_WCF_UP: Wind coefficient up

Note: This parameter is for advanced users

Barometer wind coefficient direction up in SITL

SIM_BATT_CAP_AH: Simulated battery capacity

Note: This parameter is for advanced users

Simulated battery capacity

Units
ampere hour

SIM_BATT_VOLTAGE: Simulated battery voltage

Note: This parameter is for advanced users

Simulated battery (constant) voltage

Units
volt

SIM_BAUDLIMIT_EN: Telemetry bandwidth limitting

SITL enable bandwidth limitting on telemetry ports with non-zero values

SIM_BZ_ENABLE: Buzzer enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the simulated buzzer

Values
Value Meaning 0 Disabled 1 Enabled

SIM_BZ_PIN: buzzer pin

Note: This parameter is for advanced users

The pin number that the Buzzer is connected to (start at 1)

Range
0 to 15

SIM_CAN_SRV_MSK: Mask of CAN servos/ESCs

Note: This parameter is for advanced users

The set of actuators controlled externally by CAN SITL AP_Periph

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 16 Servo 17 17 Servo 18 18 Servo 19 19 Servo 20 20 Servo 21 21 Servo 22 22 Servo 23 23 Servo 24 24 Servo 25 25 Servo 26 26 Servo 27 27 Servo 28 28 Servo 29 29 Servo 30 30 Servo 31 31 Servo 32

SIM_CAN_TYPE1: transport type for first CAN interface

Note: This parameter is for advanced users

transport type for first CAN interface

Values
Value Meaning 0 None 1 MulticastUDP 2 SocketCAN

SIM_CAN_TYPE2: transport type for second CAN interface

Note: This parameter is for advanced users

transport type for second CAN interface

Values
Value Meaning 0 None 1 MulticastUDP 2 SocketCAN

SIM_CLAMP_CH: Simulated Clamp Channel

If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM

SIM_DRIFT_SPEED: Gyro drift speed

Gyro drift rate of change in degrees/second/minute

SIM_DRIFT_TIME: Gyro drift time

Gyro drift duration of one full drift cycle (period in minutes)

SIM_EFI_TYPE: Type of Electronic Fuel Injection

Different types of Electronic Fuel Injection (EFI) systems

Values
Value Meaning 0 None 1 MegaSquirt EFI system 2 Löweheiser EFI system 8 Hirth engines

SIM_ENGINE_FAIL: Engine Fail Mask

mask of motors which SIM_ENGINE_MUL will be applied to

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 16 Servo 17 17 Servo 18 18 Servo 19 19 Servo 20 20 Servo 21 21 Servo 22 22 Servo 23 23 Servo 24 24 Servo 25 25 Servo 26 26 Servo 27 27 Servo 28 28 Servo 29 29 Servo 30 30 Servo 31 31 Servo 32

SIM_ENGINE_MUL: Engine failure thrust scaler

Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor

Range
0 to 1

SIM_ESC_ARM_RPM: ESC RPM when armed

Note: This parameter is for advanced users

Simulated RPM when motors are armed

SIM_ESC_TELEM: Simulated ESC Telemetry

Note: This parameter is for advanced users

enable perfect simulated ESC telemetry

SIM_FLOAT_EXCEPT: Generate floating point exceptions

Note: This parameter is for advanced users

If set, if a numerical error occurs SITL will die with a floating point exception.

SIM_FLOW_DELAY: Opflow Delay

Opflow data delay

Units
milliseconds

SIM_FLOW_ENABLE: Opflow Enable

Enable simulated Optical Flow sensor

Values
Value Meaning 0 Disable 1 Enabled

SIM_FLOW_POS_X: Opflow Pos

XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)

Units
meters

SIM_FLOW_POS_Y: Opflow Pos

XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)

Units
meters

SIM_FLOW_POS_Z: Opflow Pos

XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)

Units
meters

SIM_FLOW_RATE: Opflow Rate

Opflow Data Rate

Units
hertz

SIM_FLOW_RND: Opflow noise

Optical Flow sensor measurement noise

Units
radians per second

SIM_FTOWESC_ENA: FETtec OneWire ESC simulator enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the FETtecOneWireESC simulator

Values
Value Meaning 0 Disabled 1 Enabled

SIM_FTOWESC_POW: Power off FETtec ESC mask

Note: This parameter is for advanced users

Allows you to turn power off to the simulated ESCs. Bits correspond to the ESC ID, *NOT* their servo channel.

SIM_GLD_BLN_BRST: balloon burst height

balloon burst height

Units
meters

SIM_GLD_BLN_RATE: balloon climb rate

balloon climb rate. If the value is less than zero then the balloon is disabled.

Units
meters per second

SIM_GND_BEHAV: Ground behavior

Ground behavior of aircraft (tailsitter, no movement, forward only)

SIM_GPS1_ACC: GPS Accuracy

Note: This parameter is for advanced users

GPS Accuracy

SIM_GPS1_ALT_OFS: GPS Altitude Offset

GPS Altitude Error

Units
meters

SIM_GPS1_BYTELOS: GPS Byteloss

Note: This parameter is for advanced users

Percent of bytes lost from GPS

Units
percent

SIM_GPS1_DRFTALT: GPS Altitude Drift

Note: This parameter is for advanced users

GPS altitude drift error

Units
meters

SIM_GPS1_ENABLE: GPS enable

Note: This parameter is for advanced users

Enable simulated GPS

Values
Value Meaning 0 Disable 1 Enable

SIM_GPS1_GLTCH_X: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

SIM_GPS1_GLTCH_Y: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

SIM_GPS1_GLTCH_Z: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

SIM_GPS1_HDG: GPS Heading

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

Values
Value Meaning 0 Disabled 1 Emit HDT 2 Emit THS 3 KSXT 4 Be Moving Baseline Base

SIM_GPS1_HDG_OFS: GPS heading offset

Note: This parameter is for advanced users

GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading

SIM_GPS1_HZ: GPS Hz

GPS Update rate

Units
hertz

SIM_GPS1_JAM: GPS jamming enable

Note: This parameter is for advanced users

Enable simulated GPS jamming

Values
Value Meaning 0 Disabled 1 Enabled

SIM_GPS1_LAG_MS: GPS Lag

Note: This parameter is for advanced users

GPS lag

Units
milliseconds

SIM_GPS1_LCKTIME: GPS Lock Time

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

Units
seconds

SIM_GPS1_NOISE: GPS Noise

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

Units
meters

SIM_GPS1_NUMSATS: GPS Num Satellites

Number of satellites GPS has in view

SIM_GPS1_POS_X: GPS Position

GPS antenna phase center position relative to the body frame origin (X-axis)

Units
meters

SIM_GPS1_POS_Y: GPS Position

GPS antenna phase center position relative to the body frame origin (Y-axis)

Units
meters

SIM_GPS1_POS_Z: GPS Position

GPS antenna phase center position relative to the body frame origin (Z-axis)

Units
meters

SIM_GPS1_TYPE: GPS type

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

Values
Value Meaning 0 None 1 UBlox 5 NMEA 6 SBP 7 File 8 Nova 9 SBP2 11 Trimble 19 MSP

SIM_GPS1_VERR_X: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

SIM_GPS1_VERR_Y: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

SIM_GPS1_VERR_Z: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

SIM_GPS2_ACC: GPS Accuracy

Note: This parameter is for advanced users

GPS Accuracy

SIM_GPS2_ALT_OFS: GPS Altitude Offset

GPS Altitude Error

Units
meters

SIM_GPS2_BYTELOS: GPS Byteloss

Note: This parameter is for advanced users

Percent of bytes lost from GPS

Units
percent

SIM_GPS2_DRFTALT: GPS Altitude Drift

Note: This parameter is for advanced users

GPS altitude drift error

Units
meters

SIM_GPS2_ENABLE: GPS enable

Note: This parameter is for advanced users

Enable simulated GPS

Values
Value Meaning 0 Disable 1 Enable

SIM_GPS2_GLTCH_X: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

SIM_GPS2_GLTCH_Y: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

SIM_GPS2_GLTCH_Z: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

SIM_GPS2_HDG: GPS Heading

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

Values
Value Meaning 0 Disabled 1 Emit HDT 2 Emit THS 3 KSXT 4 Be Moving Baseline Base

SIM_GPS2_HDG_OFS: GPS heading offset

Note: This parameter is for advanced users

GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading

SIM_GPS2_HZ: GPS Hz

GPS Update rate

Units
hertz

SIM_GPS2_JAM: GPS jamming enable

Note: This parameter is for advanced users

Enable simulated GPS jamming

Values
Value Meaning 0 Disabled 1 Enabled

SIM_GPS2_LAG_MS: GPS Lag

Note: This parameter is for advanced users

GPS lag

Units
milliseconds

SIM_GPS2_LCKTIME: GPS Lock Time

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

Units
seconds

SIM_GPS2_NOISE: GPS Noise

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

Units
meters

SIM_GPS2_NUMSATS: GPS Num Satellites

Number of satellites GPS has in view

SIM_GPS2_POS_X: GPS Position

GPS antenna phase center position relative to the body frame origin (X-axis)

Units
meters

SIM_GPS2_POS_Y: GPS Position

GPS antenna phase center position relative to the body frame origin (Y-axis)

Units
meters

SIM_GPS2_POS_Z: GPS Position

GPS antenna phase center position relative to the body frame origin (Z-axis)

Units
meters

SIM_GPS2_TYPE: GPS type

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

Values
Value Meaning 0 None 1 UBlox 5 NMEA 6 SBP 7 File 8 Nova 9 SBP2 11 Trimble 19 MSP

SIM_GPS2_VERR_X: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

SIM_GPS2_VERR_Y: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

SIM_GPS2_VERR_Z: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

SIM_GPS3_ACC: GPS Accuracy

Note: This parameter is for advanced users

GPS Accuracy

SIM_GPS3_ALT_OFS: GPS Altitude Offset

GPS Altitude Error

Units
meters

SIM_GPS3_BYTELOS: GPS Byteloss

Note: This parameter is for advanced users

Percent of bytes lost from GPS

Units
percent

SIM_GPS3_DRFTALT: GPS Altitude Drift

Note: This parameter is for advanced users

GPS altitude drift error

Units
meters

SIM_GPS3_ENABLE: GPS enable

Note: This parameter is for advanced users

Enable simulated GPS

Values
Value Meaning 0 Disable 1 Enable

SIM_GPS3_GLTCH_X: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

SIM_GPS3_GLTCH_Y: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

SIM_GPS3_GLTCH_Z: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

SIM_GPS3_HDG: GPS Heading

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

Values
Value Meaning 0 Disabled 1 Emit HDT 2 Emit THS 3 KSXT 4 Be Moving Baseline Base

SIM_GPS3_HDG_OFS: GPS heading offset

Note: This parameter is for advanced users

GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading

SIM_GPS3_HZ: GPS Hz

GPS Update rate

Units
hertz

SIM_GPS3_JAM: GPS jamming enable

Note: This parameter is for advanced users

Enable simulated GPS jamming

Values
Value Meaning 0 Disabled 1 Enabled

SIM_GPS3_LAG_MS: GPS Lag

Note: This parameter is for advanced users

GPS lag

Units
milliseconds

SIM_GPS3_LCKTIME: GPS Lock Time

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

Units
seconds

SIM_GPS3_NOISE: GPS Noise

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

Units
meters

SIM_GPS3_NUMSATS: GPS Num Satellites

Number of satellites GPS has in view

SIM_GPS3_POS_X: GPS Position

GPS antenna phase center position relative to the body frame origin (X-axis)

Units
meters

SIM_GPS3_POS_Y: GPS Position

GPS antenna phase center position relative to the body frame origin (Y-axis)

Units
meters

SIM_GPS3_POS_Z: GPS Position

GPS antenna phase center position relative to the body frame origin (Z-axis)

Units
meters

SIM_GPS3_TYPE: GPS type

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

Values
Value Meaning 0 None 1 UBlox 5 NMEA 6 SBP 7 File 8 Nova 9 SBP2 11 Trimble 19 MSP

SIM_GPS3_VERR_X: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

SIM_GPS3_VERR_Y: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

SIM_GPS3_VERR_Z: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

SIM_GPS4_ACC: GPS Accuracy

Note: This parameter is for advanced users

GPS Accuracy

SIM_GPS4_ALT_OFS: GPS Altitude Offset

GPS Altitude Error

Units
meters

SIM_GPS4_BYTELOS: GPS Byteloss

Note: This parameter is for advanced users

Percent of bytes lost from GPS

Units
percent

SIM_GPS4_DRFTALT: GPS Altitude Drift

Note: This parameter is for advanced users

GPS altitude drift error

Units
meters

SIM_GPS4_ENABLE: GPS enable

Note: This parameter is for advanced users

Enable simulated GPS

Values
Value Meaning 0 Disable 1 Enable

SIM_GPS4_GLTCH_X: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

SIM_GPS4_GLTCH_Y: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

SIM_GPS4_GLTCH_Z: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

SIM_GPS4_HDG: GPS Heading

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

Values
Value Meaning 0 Disabled 1 Emit HDT 2 Emit THS 3 KSXT 4 Be Moving Baseline Base

SIM_GPS4_HDG_OFS: GPS heading offset

Note: This parameter is for advanced users

GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading

SIM_GPS4_HZ: GPS Hz

GPS Update rate

Units
hertz

SIM_GPS4_JAM: GPS jamming enable

Note: This parameter is for advanced users

Enable simulated GPS jamming

Values
Value Meaning 0 Disabled 1 Enabled

SIM_GPS4_LAG_MS: GPS Lag

Note: This parameter is for advanced users

GPS lag

Units
milliseconds

SIM_GPS4_LCKTIME: GPS Lock Time

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

Units
seconds

SIM_GPS4_NOISE: GPS Noise

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

Units
meters

SIM_GPS4_NUMSATS: GPS Num Satellites

Number of satellites GPS has in view

SIM_GPS4_POS_X: GPS Position

GPS antenna phase center position relative to the body frame origin (X-axis)

Units
meters

SIM_GPS4_POS_Y: GPS Position

GPS antenna phase center position relative to the body frame origin (Y-axis)

Units
meters

SIM_GPS4_POS_Z: GPS Position

GPS antenna phase center position relative to the body frame origin (Z-axis)

Units
meters

SIM_GPS4_TYPE: GPS type

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

Values
Value Meaning 0 None 1 UBlox 5 NMEA 6 SBP 7 File 8 Nova 9 SBP2 11 Trimble 19 MSP

SIM_GPS4_VERR_X: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

SIM_GPS4_VERR_Y: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

SIM_GPS4_VERR_Z: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

SIM_GPS_LOG_NUM: GPS Log Number

Log number for GPS:update_file()

SIM_GRPE_ENABLE: Gripper servo Sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the gripper servo simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_GRPE_PIN: Gripper emp pin

Note: This parameter is for advanced users

The pin number that the gripper emp is connected to. (start at 1)

Range
0 to 15

SIM_GRPS_ENABLE: Gripper servo Sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the gripper servo simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_GRPS_GRAB: Gripper Grab PWM

Note: This parameter is for advanced users

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

Range	Units
1000 to 2000	PWM in microseconds

SIM_GRPS_PIN: Gripper servo pin

Note: This parameter is for advanced users

The pin number that the gripper servo is connected to. (start at 1)

Range
0 to 15

SIM_GRPS_RELEASE: Gripper Release PWM

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

Range	Units
1000 to 2000	PWM in microseconds

SIM_GRPS_REVERSE: Gripper close direction

Note: This parameter is for advanced users

Reverse the closing direction.

Values
Value Meaning 0 Normal 1 Reverse

SIM_GYR1_BIAS_X: First Gyro bias on X axis

Note: This parameter is for advanced users

First Gyro bias on X axis

Units
radians per second

SIM_GYR1_BIAS_Y: First Gyro bias on Y axis

Note: This parameter is for advanced users

First Gyro bias on Y axis

Units
radians per second

SIM_GYR1_BIAS_Z: First Gyro bias on Z axis

Note: This parameter is for advanced users

First Gyro bias on Z axis

Units
radians per second

SIM_GYR1_RND: Gyro 1 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR1_SCALE_X: Gyro 1 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR1_SCALE_Y: Gyro 1 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR1_SCALE_Z: Gyro 1 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

SIM_GYR2_BIAS_X: Second Gyro bias on X axis

Note: This parameter is for advanced users

Second Gyro bias on X axis

Units
radians per second

SIM_GYR2_BIAS_Y: Second Gyro bias on Y axis

Note: This parameter is for advanced users

Second Gyro bias on Y axis

Units
radians per second

SIM_GYR2_BIAS_Z: Second Gyro bias on Z axis

Note: This parameter is for advanced users

Second Gyro bias on Z axis

Units
radians per second

SIM_GYR2_RND: Gyro 2 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR2_SCALE_X: Gyro 2 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR2_SCALE_Y: Gyro 2 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR2_SCALE_Z: Gyro 2 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

SIM_GYR3_BIAS_X: Third Gyro bias on X axis

Note: This parameter is for advanced users

Third Gyro bias on X axis

Units
radians per second

SIM_GYR3_BIAS_Y: Third Gyro bias on Y axis

Note: This parameter is for advanced users

Third Gyro bias on Y axis

Units
radians per second

SIM_GYR3_BIAS_Z: Third Gyro bias on Z axis

Note: This parameter is for advanced users

Third Gyro bias on Z axis

Units
radians per second

SIM_GYR3_RND: Gyro 3 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR3_SCALE_X: Gyro 3 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR3_SCALE_Y: Gyro 3 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR3_SCALE_Z: Gyro 3 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

SIM_GYR4_BIAS_X: Fourth Gyro bias on X axis

Note: This parameter is for advanced users

Fourth Gyro bias on X axis

Units
radians per second

SIM_GYR4_BIAS_Y: Fourth Gyro bias on Y axis

Note: This parameter is for advanced users

Fourth Gyro bias on Y axis

Units
radians per second

SIM_GYR4_BIAS_Z: Fourth Gyro bias on Z axis

Note: This parameter is for advanced users

Fourth Gyro bias on Z axis

Units
radians per second

SIM_GYR4_RND: Gyro 4 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR4_SCALE_X: Gyro 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR4_SCALE_Y: Gyro 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR4_SCALE_Z: Gyro 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

SIM_GYR5_BIAS_X: Fifth Gyro bias on X axis

Note: This parameter is for advanced users

Fifth Gyro bias on X axis

Units
radians per second

SIM_GYR5_BIAS_Y: Fifth Gyro bias on Y axis

Note: This parameter is for advanced users

Fifth Gyro bias on Y axis

Units
radians per second

SIM_GYR5_BIAS_Z: Fifth Gyro bias on Z axis

Note: This parameter is for advanced users

Fifth Gyro bias on Z axis

Units
radians per second

SIM_GYR5_RND: Gyro 5 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR5_SCALE_X: Gyro 5 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR5_SCALE_Y: Gyro 5 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR5_SCALE_Z: Gyro 5 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

SIM_GYR_FAIL_MSK: Gyro Failure Mask

Note: This parameter is for advanced users

Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

Values
Value Meaning 0 Disabled 1 Readings stopped

SIM_GYR_FILE_RW: Gyro data to/from files

Read and write gyro data to/from files

Values
Value Meaning 0 Stop writing data 1 Read data from file 2 Write data to a file 3 Read data from file and stop on EOF

SIM_IE24_ENABLE: IntelligentEnergy 2.4kWh FuelCell sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the FuelCell simulator

Values
Value Meaning 0 Disabled 1 V1 Protocol 2 V2 Protocol

SIM_IE24_ERROR: Explicitly set error code

Note: This parameter is for advanced users

Explicitly specify an error code to send to the generator

SIM_IE24_STATE: Explicitly set state

Note: This parameter is for advanced users

Explicitly specify a state for the generator to be in

SIM_IMUT_END: IMU temperature end

Ending IMU temperature of a curve

SIM_IMUT_FIXED: IMU fixed temperature

IMU fixed temperature by user

SIM_IMUT_START: IMU temperature start

Starting IMU temperature of a curve

SIM_IMUT_TCONST: IMU temperature time constant

IMU temperature time constant of the curve

SIM_IMU_COUNT: IMU count

Number of simulated IMUs to create

SIM_IMU_ORIENT: IMU orientation

Note: This parameter is for advanced users

Simulated orientation of the IMUs

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Yaw45Roll180 10 Yaw90Roll180 11 Yaw135Roll180 12 Pitch180 13 Yaw225Roll180 14 Yaw270Roll180 15 Yaw315Roll180 16 Roll90 17 Yaw45Roll90 18 Yaw90Roll90 19 Yaw135Roll90 20 Roll270 21 Yaw45Roll270 22 Yaw90Roll270 23 Yaw135Roll270 24 Pitch90 25 Pitch270 26 Yaw90Pitch180 27 Yaw270Pitch180 28 Pitch90Roll90 29 Pitch90Roll180 30 Pitch90Roll270 31 Pitch180Roll90 32 Pitch180Roll270 33 Pitch270Roll90 34 Pitch270Roll180 35 Pitch270Roll270 36 Yaw90Pitch180Roll90 37 Yaw270Roll90 38 Yaw293Pitch68Roll180 39 Pitch315 40 Pitch315Roll90 42 Roll45 43 Roll315 100 Custom 4.1 and older 101 Custom 1 102 Custom 2

SIM_IMU_POS_X: IMU Offsets

XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)

Units
meters

SIM_IMU_POS_Y: IMU Offsets

XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)

Units
meters

SIM_IMU_POS_Z: IMU Offsets

XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)

Units
meters

SIM_INIT_ALT_OFS: Initial Altitude Offset

GPS initial alt offset from origin

SIM_INIT_LAT_OFS: Initial Latitude Offset

GPS initial lat offset from origin

SIM_INIT_LON_OFS: Initial Longitude Offset

GPS initial lon offset from origin

SIM_INS_THR_MIN: Minimum throttle INS noise

Minimum throttle for simulated ins noise

SIM_JSON_MASTER: JSON master instance

the instance number to take servos from

SIM_LED_LAYOUT: LED layout

LED layout config value

SIM_LOOP_DELAY: Extra delay per main loop

Extra time delay per main loop

Units
microseconds

SIM_MAG1_DEVID: MAG1 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 1

SIM_MAG1_FAIL: MAG1 Failure

Note: This parameter is for advanced users

Simulated failure of MAG1

Values
Value Meaning 0 Disabled 1 MAG1 Failure

SIM_MAG1_ORIENT: MAG1 Orientation

Note: This parameter is for advanced users

MAG1 external compass orientation

SIM_MAG1_SCALING: MAG1 Scaling factor

Note: This parameter is for advanced users

Scale the compass 1 to simulate sensor scale factor errors

SIM_MAG2_DEVID: MAG2 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 2

SIM_MAG2_FAIL: MAG2 Failure

Note: This parameter is for advanced users

Simulated failure of MAG2

Values
Value Meaning 0 Disabled 1 MAG2 Failure

SIM_MAG2_ORIENT: MAG2 Orientation

Note: This parameter is for advanced users

MAG2 external compass orientation

SIM_MAG2_SCALING: MAG2 Scaling factor

Note: This parameter is for advanced users

Scale the compass 2 to simulate sensor scale factor errors

SIM_MAG3_DEVID: MAG3 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 3

SIM_MAG3_FAIL: MAG3 Failure

Note: This parameter is for advanced users

Simulated failure of MAG3

Values
Value Meaning 0 Disabled 1 MAG3 Failure

SIM_MAG3_ORIENT: MAG3 Orientation

Note: This parameter is for advanced users

MAG3 external compass orientation

SIM_MAG3_SCALING: MAG3 Scaling factor

Note: This parameter is for advanced users

Scale the compass 3 to simulate sensor scale factor errors

SIM_MAG4_DEVID: MAG2 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 4

SIM_MAG5_DEVID: MAG5 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 5

SIM_MAG6_DEVID: MAG6 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 6

SIM_MAG7_DEVID: MAG7 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 7

SIM_MAG8_DEVID: MAG8 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 8

SIM_MAG_ALY_HGT: Magnetic anomaly height

Note: This parameter is for advanced users

Height above ground where anomally strength has decayed to 1/8 of the ground level value

Units
meters

SIM_MAG_DELAY: Mag measurement delay

Note: This parameter is for advanced users

Magnetometer measurement delay

Units
milliseconds

SIM_MAG_RND: Mag motor noise factor

Note: This parameter is for advanced users

Scaling factor for simulated vibration from motors

SIM_MAG_SAVE_IDS: Save MAG devids on startup

Note: This parameter is for advanced users

This forces saving of compass devids on startup so that simulated compasses start as calibrated

Values
Value Meaning 0 Disabled 1 Enabled

SIM_ODOM_ENABLE: Odometry enable

SITL odometry enabl

Values
Value Meaning 0 Disable 1 Enable

SIM_OH_MASK: SIM-on_hardware Output Enable Mask

channels which are passed through to actual hardware when running sim on actual hardware

SIM_OH_RELAY_MSK: SIM-on_hardware Relay Enable Mask

Allow relay output operation when running SIM-on-hardware

SIM_OPOS_ALT: Original Position (Altitude)

Note: This parameter is for advanced users

Specifies vehicle's startup altitude (AMSL)

SIM_OPOS_HDG: Original Position (Heading)

Note: This parameter is for advanced users

Specifies vehicle's startup heading (0-360)

SIM_OPOS_LAT: Original Position (Latitude)

Note: This parameter is for advanced users

Specifies vehicle's startup latitude

SIM_OPOS_LNG: Original Position (Longitude)

Note: This parameter is for advanced users

Specifies vehicle's startup longitude

SIM_OSD_COLUMNS: Simulated OSD number of text columns

Simulated OSD number of text columns

Range
10 to 100

SIM_OSD_ROWS: Simulated OSD number of text rows

Simulated OSD number of text rows

Range
10 to 100

SIM_PARA_ENABLE: Parachute Sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Parachute simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_PARA_PIN: Parachute pin

Note: This parameter is for advanced users

The pin number that the Parachute pyrotechnics are connected to. (start at 1)

Range
0 to 15

SIM_PIN_MASK: GPIO emulation

SITL GPIO emulation

SIM_PLD_ALT_LMT: Precland device alt range

Note: This parameter is for advanced users

Precland device maximum range altitude

Range	Units
0 to 100	meters

SIM_PLD_DIST_LMT: Precland device lateral range

Note: This parameter is for advanced users

Precland device maximum lateral range

Range	Units
5 to 100	meters

SIM_PLD_ENABLE: Preland device Sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Preland simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_PLD_HEIGHT: Precland device center's height SITL origin

Note: This parameter is for advanced users

Precland device center's height above SITL origin. Assumes a 2x2m square as station base

Increment	Range	Units
1	0 to 10000	meters

SIM_PLD_LAT: Precland device center's latitude

Note: This parameter is for advanced users

Precland device center's latitude

Increment	Range	Units
0.000001	-90 to 90	degrees

SIM_PLD_LON: Precland device center's longitude

Note: This parameter is for advanced users

Precland device center's longitude

Increment	Range	Units
0.000001	-180 to 180	degrees

SIM_PLD_OPTIONS: SIM_Precland extra options

Note: This parameter is for advanced users

SIM_Precland extra options

Bitmask
Bit Meaning 0 Enable target distance

SIM_PLD_ORIENT: Precland device orientation

Note: This parameter is for advanced users

Precland device orientation vector

Values
Value Meaning 0 Front 4 Back 24 Up

SIM_PLD_RATE: Precland device update rate

Note: This parameter is for advanced users

Precland device rate. e.g led patter refresh rate, RF message rate, etc.

Range	Units
0 to 200	hertz

SIM_PLD_SHIP: SIM_Precland follow ship

Note: This parameter is for advanced users

This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters

Values
Value Meaning 0 Disabled 1 Enabled

SIM_PLD_TYPE: Precland device radiance type

Note: This parameter is for advanced users

Precland device radiance type: it can be a cylinder, a cone, or a sphere.

Values
Value Meaning 0 cylinder 1 cone 2 sphere

SIM_PLD_YAW: Precland device systems rotation from north

Note: This parameter is for advanced users

Precland device systems rotation from north

Increment	Range	Units
1	-180 to +180	degrees

SIM_RATE_HZ: Loop rate

SITL Loop rate

Units
hertz

SIM_RC_CHANCOUNT: RC channel count

SITL RC channel count

SIM_RC_FAIL: Simulated RC signal failure

Note: This parameter is for advanced users

Allows you to emulate rc failures in sim

Values
Value Meaning 0 Disabled 1 No RC pusles 2 All Channels neutral except Throttle is 950us

SIM_RFL_OPTS: FlightAxis options

Note: This parameter is for advanced users

Bitmask of FlightAxis options

Bitmask
Bit Meaning 0 Reset position on startup 1 Swap first 4 and last 4 servos (for quadplane testing) 2 Demix heli servos and send roll/pitch/collective/yaw 3 Don’t print frame rate stats

SIM_RICH_CTRL: Pin RichenPower is connectred to

Note: This parameter is for advanced users

The pin number that the RichenPower spinner servo is connected to. (start at 1)

Range
0 to 15

SIM_RICH_ENABLE: RichenPower Generator sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the RichenPower simulator

Values
Value Meaning 0 Disabled 1 Enabled

SIM_SAIL_TYPE: Sailboat simulation sail type

0: mainsail with sheet, 1: directly actuated wing

SIM_SB_ALT_TARG: altitude target

altitude target

Units
meters

SIM_SB_ARM_LEN: arm length

distance from center of mass to one motor

Units
meters

SIM_SB_CLMB_RT: target climb rate

target climb rate

Units
meters per second

SIM_SB_COL: center of lift

center of lift position above CoG

Units
meters

SIM_SB_DRAG_FWD: drag in forward direction

drag on X axis

SIM_SB_DRAG_SIDE: drag in sidewards direction

drag on Y axis

SIM_SB_DRAG_UP: drag in upward direction

drag on Z axis

SIM_SB_FLR: free lift rate

amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift

SIM_SB_HMASS: helium mass

mass of lifting gas

Units
kilograms

SIM_SB_MASS: mass

mass of blimp not including lifting gas

Units
kilograms

SIM_SB_MOI_PITCH: moment of inertia in pitch

moment of inertia in pitch

SIM_SB_MOI_ROLL: moment of inertia in roll

moment of inertia in roll

SIM_SB_MOI_YAW: moment of inertia in yaw

moment of inertia in yaw

SIM_SB_MOT_ANG: motor angle

maximum motor tilt angle

Units
degrees

SIM_SB_MOT_THST: motor thrust

thrust at max throttle for one motor

Units
Newtons

SIM_SB_WVANE: weathervaning offset

center of drag for weathervaning

Units
meters

SIM_SB_YAW_RT: yaw rate

maximum yaw rate with full left throttle at target altitude

Units
degrees per second

SIM_SERVO_DELAY: servo delay

servo delay

Units
seconds

SIM_SERVO_FILTER: servo filter

servo filter

Units
hertz

SIM_SERVO_SPEED: servo speed

servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit

Units
seconds

SIM_SHIP_DSIZE: Deck Size

Size of the ship's deck

Units
meters

SIM_SHIP_ENABLE: Ship landing Enable

Enable ship landing simulation

Values
Value Meaning 0 Disable 1 Enabled

SIM_SHIP_OFS_X: Ship landing pad offset

Defines the offset of the ship's landing pad w.r.t. the ship's origin, i.e. where the beacon is placed on the ship (X-axis)

Units
meters

SIM_SHIP_OFS_Y: Ship landing pad offset

Defines the offset of the ship's landing pad w.r.t. the ship's origin, i.e. where the beacon is placed on the ship (Y-axis)

Units
meters

SIM_SHIP_OFS_Z: Ship landing pad offset

Defines the offset of the ship's landing pad w.r.t. the ship's origin, i.e. where the beacon is placed on the ship (Z-axis)

Units
meters

SIM_SHIP_PSIZE: Path Size

Diameter of the circle the ship is traveling on

Units
meters

SIM_SHIP_SPEED: Ship Speed

Speed of the ship

Units
meters per second

SIM_SHIP_SYSID: System ID

System ID of the ship

Range
1 to 255

SIM_SHOVE_TIME: Time length for shove

Force to the vehicle over a period of time

Units
milliseconds

SIM_SHOVE_X: Acceleration of shove x

Acceleration of shove to vehicle in x axis

Units
meters per square second

SIM_SHOVE_Y: Acceleration of shove y

Acceleration of shove to vehicle in y axis

Units
meters per square second

SIM_SHOVE_Z: Acceleration of shove z

Acceleration of shove to vehicle in z axis

Units
meters per square second

SIM_SLUP_DRAG: Slung Payload drag coefficient

Note: This parameter is for advanced users

Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly

Range	Units
0 to 10	meters

SIM_SLUP_ENABLE: Slung Payload Sim enable/disable

Note: This parameter is for advanced users

Slung Payload Sim enable/disable

Values
Value Meaning 0 Disabled 1 Enabled

SIM_SLUP_LINELEN: Slung Payload line length

Note: This parameter is for advanced users

Slung Payload line length in meters

Range	Units
0 to 100	meters

SIM_SLUP_SYSID: Slung Payload MAVLink system ID

Note: This parameter is for advanced users

Slung Payload MAVLink system id to distinguish it from others on the same network

Range
0 to 255

SIM_SLUP_WEIGHT: Slung Payload weight

Note: This parameter is for advanced users

Slung Payload weight in kg

Range	Units
0 to 15	kilograms

SIM_SONAR_GLITCH: Sonar glitch probablility

Note: This parameter is for advanced users

Probablility a sonar glitch would happen

Range
0 to 1

SIM_SONAR_POS_X: Sonar Offsets

XYZ position of the sonar relative to the body frame origin (X-axis)

Units
meters

SIM_SONAR_POS_Y: Sonar Offsets

XYZ position of the sonar relative to the body frame origin (Y-axis)

Units
meters

SIM_SONAR_POS_Z: Sonar Offsets

XYZ position of the sonar relative to the body frame origin (Z-axis)

Units
meters

SIM_SONAR_RND: Sonar noise factor

Note: This parameter is for advanced users

Scaling factor for simulated sonar noise

SIM_SONAR_ROT: Sonar rotation

Sonar rotation from rotations enumeration

SIM_SONAR_SCALE: Sonar conversion scale

Sonar conversion scale from distance to voltage

Units
meters per volt

SIM_SPEEDUP: Sim Speedup

Note: This parameter is for advanced users

Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used

Range
1 to 10

SIM_SPR_ENABLE: Sprayer Sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Sprayer simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_SPR_PUMP: Sprayer pump pin

Note: This parameter is for advanced users

The pin number that the Sprayer pump is connected to. (start at 1)

Range
0 to 15

SIM_SPR_SPIN: Sprayer spinner servo pin

Note: This parameter is for advanced users

The pin number that the Sprayer spinner servo is connected to. (start at 1)

Range
0 to 15

SIM_TA_ENABLE: ToneAlarm enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the simulated tonealarm

Values
Value Meaning 0 Disabled 1 Enabled

SIM_TEMP_BFACTOR: Baro temperature factor

Note: This parameter is for advanced users

A pressure change with temperature that closely matches what has been observed with a ICM-20789

SIM_TEMP_BRD_OFF: Baro temperature offset

Note: This parameter is for advanced users

Barometer board temperature offset from atmospheric temperature

Units
degrees Celsius

SIM_TEMP_START: Start temperature

Note: This parameter is for advanced users

Baro start temperature

Units
degrees Celsius

SIM_TEMP_TCONST: Warmup time constant

Note: This parameter is for advanced users

Barometer warmup temperature time constant

Units
degrees Celsius

SIM_TERRAIN: Terrain Enable

Enable using terrain for height

Values
Value Meaning 0 Disable 1 Enabled

SIM_TETH_DENSITY: Tether Wire Density

Note: This parameter is for advanced users

Linear mass density of the tether wire

Range
0 to 1

SIM_TETH_DMPCNST: Tether Damping Constant

Note: This parameter is for advanced users

Damping constant for the tether to simulate resistance based on change in stretch

Range
0 to 255

SIM_TETH_ENABLE: Tether Simulation Enable/Disable

Note: This parameter is for advanced users

Enable or disable the tether simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_TETH_LINELEN: Tether Maximum Line Length

Note: This parameter is for advanced users

Maximum length of the tether line in meters

Range	Units
0 to 100	meters

SIM_TETH_SPGCNST: Tether Spring Constant

Note: This parameter is for advanced users

Spring constant for the tether to simulate elastic forces when stretched beyond its maximum length

Range
0 to 255

SIM_TETH_STUCK: Tether Stuck Enable/Disable

Note: This parameter is for advanced users

Enable or disable a stuck tether simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_TETH_SYSID: Tether Simulation MAVLink System ID

Note: This parameter is for advanced users

MAVLink system ID for the tether simulation, used to distinguish it from other systems on the network

Range
0 to 255

SIM_THML_SCENARI: Thermal scenarios

Scenario for thermalling simulation, for soaring

SIM_TIDE_DIR: Tide direction

Tide direction wave is coming from

Units
degrees

SIM_TIDE_SPEED: Tide speed

Tide speed in simulation

Units
meters per second

SIM_TIME_JITTER: Loop time jitter

Note: This parameter is for advanced users

Upper limit of random jitter in loop time

Units
microseconds

SIM_TWIST_TIME: Twist time

Time that twist is applied on the vehicle

Units
milliseconds

SIM_TWIST_X: Twist x

Rotational acceleration of twist x axis

Units
radians per square second

SIM_TWIST_Y: Twist y

Rotational acceleration of twist y axis

Units
radians per square second

SIM_TWIST_Z: Twist z

Rotational acceleration of twist z axis

Units
radians per square second

SIM_UART_LOSS: UART byte loss percentage

Note: This parameter is for advanced users

Sets percentage of outgoing byte loss on UARTs

Units
percent

SIM_VIB_MOT_HMNC: Motor harmonics

Motor harmonics generated in SITL

SIM_VIB_MOT_MASK: Motor mask

Motor mask, allowing external simulators to mark motors

SIM_VIB_MOT_MAX: Max motor vibration frequency

Max frequency to use as baseline for adding motor noise for the gyros and accels

Units
hertz

SIM_VIB_MOT_MULT: Vibration motor scale

Amplitude scaling of motor noise relative to gyro/accel noise

SIM_VICON_FAIL: SITL vicon failure

Note: This parameter is for advanced users

SITL vicon failure

Values
Value Meaning 0 Vicon Healthy 1 Vicon Failed

SIM_VICON_GLIT_X: SITL vicon position glitch North

Note: This parameter is for advanced users

SITL vicon position glitch North

Units
meters

SIM_VICON_GLIT_Y: SITL vicon position glitch East

Note: This parameter is for advanced users

SITL vicon position glitch East

Units
meters

SIM_VICON_GLIT_Z: SITL vicon position glitch Down

Note: This parameter is for advanced users

SITL vicon position glitch Down

Units
meters

SIM_VICON_POS_X: SITL vicon position on vehicle in Forward direction

Note: This parameter is for advanced users

SITL vicon position on vehicle in Forward direction

Range	Units
0 to 10	meters

SIM_VICON_POS_Y: SITL vicon position on vehicle in Right direction

Note: This parameter is for advanced users

SITL vicon position on vehicle in Right direction

Range	Units
0 to 10	meters

SIM_VICON_POS_Z: SITL vicon position on vehicle in Down direction

Note: This parameter is for advanced users

SITL vicon position on vehicle in Down direction

Range	Units
0 to 10	meters

SIM_VICON_P_SD: SITL vicon position standard deviation for gaussian noise

Note: This parameter is for advanced users

SITL vicon position standard deviation for gaussian noise

Units
meters

SIM_VICON_RATE: SITL vicon rate

Note: This parameter is for advanced users

SITL vicon rate

Units
hertz

SIM_VICON_TMASK: SITL vicon type mask

Note: This parameter is for advanced users

SITL vicon messages sent

Bitmask
Bit Meaning 0 VISION_POSITION_ESTIMATE 1 VISION_SPEED_ESTIMATE 2 VICON_POSITION_ESTIMATE 3 VISION_POSITION_DELTA 4 ODOMETRY

SIM_VICON_VGLI_X: SITL vicon velocity glitch North

Note: This parameter is for advanced users

SITL vicon velocity glitch North

Units
meters per second

SIM_VICON_VGLI_Y: SITL vicon velocity glitch East

Note: This parameter is for advanced users

SITL vicon velocity glitch East

Units
meters per second

SIM_VICON_VGLI_Z: SITL vicon velocity glitch Down

Note: This parameter is for advanced users

SITL vicon velocity glitch Down

Units
meters per second

SIM_VICON_V_SD: SITL vicon velocity standard deviation for gaussian noise

Note: This parameter is for advanced users

SITL vicon velocity standard deviation for gaussian noise

Units
meters per second

SIM_VICON_YAW: SITL vicon yaw angle in earth frame

Note: This parameter is for advanced users

SITL vicon yaw angle in earth frame

Range	Units
0 to 360	degrees

SIM_VICON_YAWERR: SITL vicon yaw error

Note: This parameter is for advanced users

SITL vicon yaw added to reported yaw sent to vehicle

Range	Units
-180 to 180	degrees

SIM_VOLZ_ENA: Volz simulator enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Volz simulator

Values
Value Meaning 0 Disabled 1 Enabled

SIM_VOLZ_FMASK: Volz fail mask

Note: This parameter is for advanced users

fail servo at current position. Channel 1 is bit 0.

SIM_VOLZ_MASK: Volz override mask

Note: This parameter is for advanced users

mask of servo output channels to override with values from Volz protocol. Note these are indexed from 0 - so channel 3 (usually throttle) has value 4 in this bitmask (1<<2).

SIM_WAVE_AMP: Wave amplitude

Wave amplitude in SITL

Units
meters

SIM_WAVE_DIR: Wave direction

Direction wave is coming from

Units
degrees

SIM_WAVE_ENABLE: Wave enable

Wave enable and modes

Values
Value Meaning 0 disabled 1 roll and pitch 2 roll and pitch and heave

SIM_WAVE_LENGTH: Wave length

Wave length in SITL

Units
meters

SIM_WAVE_SPEED: Wave speed

Wave speed in SITL

Units
meters per second

SIM_WIND_DIR: Direction simulated wind is coming from

Note: This parameter is for advanced users

Allows you to set wind direction (true deg) in sim

Units
degrees

SIM_WIND_DIR_Z: Simulated wind vertical direction

Note: This parameter is for advanced users

Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft.

Units
degrees

SIM_WIND_SPD: Simulated Wind speed

Note: This parameter is for advanced users

Allows you to emulate wind in sim

Units
meters per second

SIM_WIND_T: Wind Profile Type

Note: This parameter is for advanced users

Selects how wind varies from surface to WIND_T_ALT

Values
Value Meaning 0 square law 1 none 2 linear-see WIND_T_COEF

SIM_WIND_TC: Wind variation time constant

Note: This parameter is for advanced users

this controls the time over which wind changes take effect

Units
seconds

SIM_WIND_TURB: Simulated Wind variation

Note: This parameter is for advanced users

Allows you to emulate random wind variations in sim

Units
meters per second

SIM_WIND_T_ALT: Full Wind Altitude

Note: This parameter is for advanced users

Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level

Units
meters

SIM_WIND_T_COEF: Linear Wind Curve Coeff

Note: This parameter is for advanced users

For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value

SIM_WOW_PIN: Weight on Wheels Pin

Note: This parameter is for advanced users

SITL set this simulated pin to true if vehicle is on ground

SPRAY_ Parameters

SPRAY_ENABLE: Sprayer enable/disable

Allows you to enable (1) or disable (0) the sprayer

Values
Value Meaning 0 Disabled 1 Enabled

SPRAY_PUMP_RATE: Pump speed

Desired pump speed when travelling 1m/s expressed as a percentage

Range	Units
0 to 100	percent

SPRAY_SPINNER: Spinner rotation speed

Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)

Range	Units
1000 to 2000	milliseconds

SPRAY_SPEED_MIN: Speed minimum

Speed minimum at which we will begin spraying

Range	Units
0 to 1000	centimeters per second

SPRAY_PUMP_MIN: Pump speed minimum

Minimum pump speed expressed as a percentage

Range	Units
0 to 100	percent

SRTL_ Parameters

SRTL_ACCURACY: SmartRTL accuracy

Note: This parameter is for advanced users

SmartRTL accuracy. The minimum distance between points.

Range	Units
0 to 10	meters

SRTL_POINTS: SmartRTL maximum number of points on path

Note: This parameter is for advanced users

Note: Reboot required after change

SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory.

Range
0 to 500

SRTL_OPTIONS: SmartRTL options

Bitmask of SmartRTL options.

Bitmask
Bit Meaning 2 Ignore pilot yaw

STAT Parameters

STAT_BOOTCNT: Boot Count

Number of times board has been booted

ReadOnly
True

STAT_FLTTIME: Total FlightTime

Total FlightTime (seconds)

ReadOnly	Units
True	seconds

STAT_RUNTIME: Total RunTime

Total time autopilot has run

ReadOnly	Units
True	seconds

STAT_RESET: Statistics Reset Time

Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)

ReadOnly	Units
True	seconds

TEMP Parameters

TEMP_LOG: Logging

Enables temperature sensor logging

Values
Value Meaning 0 Disabled 1 Log all instances 2 Log only instances with sensor source set to None

TEMP1_ Parameters

TEMP1_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

TEMP1_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP1_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP1_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

TEMP1_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP1_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP1_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP1_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP1_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

TEMP2_ Parameters

TEMP2_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

TEMP2_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP2_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP2_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

TEMP2_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP2_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP2_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP2_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP2_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

TEMP3_ Parameters

TEMP3_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

TEMP3_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP3_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP3_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

TEMP3_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP3_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP3_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP3_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP3_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

TEMP4_ Parameters

TEMP4_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

TEMP4_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP4_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP4_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

TEMP4_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP4_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP4_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP4_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP4_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

TEMP5_ Parameters

TEMP5_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

TEMP5_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP5_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP5_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

TEMP5_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP5_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP5_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP5_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP5_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

TEMP6_ Parameters

TEMP6_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

TEMP6_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP6_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP6_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

TEMP6_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP6_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP6_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP6_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP6_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

TEMP7_ Parameters

TEMP7_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

TEMP7_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP7_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP7_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

TEMP7_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP7_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP7_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP7_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP7_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

TEMP8_ Parameters

TEMP8_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

TEMP8_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP8_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP8_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

TEMP8_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP8_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP8_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP8_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP8_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

TEMP9_ Parameters

TEMP9_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

TEMP9_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP9_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP9_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

TEMP9_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP9_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP9_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP9_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP9_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

TRQ1_ Parameters

TRQ1_TYPE: Torqeedo connection type

Note: Reboot required after change

Torqeedo connection type

Values
Value Meaning 0 Disabled 1 Tiller 2 Motor

TRQ1_ONOFF_PIN: Torqeedo ON/Off pin

Note: Reboot required after change

Pin number connected to Torqeedo's on/off pin. -1 to use serial port's RTS pin if available

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

TRQ1_DE_PIN: Torqeedo DE pin

Note: Reboot required after change

Pin number connected to RS485 to Serial converter's DE pin. -1 to use serial port's CTS pin if available

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

TRQ1_OPTIONS: Torqeedo Options

Note: This parameter is for advanced users

Torqeedo Options Bitmask

Bitmask
Bit Meaning 0 Log 1 Send debug to GCS

TRQ1_POWER: Torqeedo Motor Power

Note: This parameter is for advanced users

Torqeedo motor power. Only applied when using motor connection type (e.g. TRQD_TYPE=2)

Increment	Range	Units
1	0 to 100	percent

TRQ1_SLEW_TIME: Torqeedo Throttle Slew Time

Note: This parameter is for advanced users

Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100%. Higher values cause a slower response, lower values cause a faster response. A value of zero disables the limit

Increment	Range	Units
0.1	0 to 5	seconds

TRQ1_DIR_DELAY: Torqeedo Direction Change Delay

Note: This parameter is for advanced users

Torqeedo direction change delay. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation

Increment	Range	Units
0.1	0 to 5	seconds

TRQ1_SERVO_FN: Torqeedo Servo Output Function

Note: This parameter is for advanced users

Torqeedo Servo Output Function

Increment	Values
0.1	Value Meaning 70 Throttle 73 ThrottleLeft 74 ThrottleRight

TRQ2_ Parameters

TRQ2_TYPE: Torqeedo connection type

Note: Reboot required after change

Torqeedo connection type

Values
Value Meaning 0 Disabled 1 Tiller 2 Motor

TRQ2_ONOFF_PIN: Torqeedo ON/Off pin

Note: Reboot required after change

Pin number connected to Torqeedo's on/off pin. -1 to use serial port's RTS pin if available

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

TRQ2_DE_PIN: Torqeedo DE pin

Note: Reboot required after change

Pin number connected to RS485 to Serial converter's DE pin. -1 to use serial port's CTS pin if available

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

TRQ2_OPTIONS: Torqeedo Options

Note: This parameter is for advanced users

Torqeedo Options Bitmask

Bitmask
Bit Meaning 0 Log 1 Send debug to GCS

TRQ2_POWER: Torqeedo Motor Power

Note: This parameter is for advanced users

Torqeedo motor power. Only applied when using motor connection type (e.g. TRQD_TYPE=2)

Increment	Range	Units
1	0 to 100	percent

TRQ2_SLEW_TIME: Torqeedo Throttle Slew Time

Note: This parameter is for advanced users

Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100%. Higher values cause a slower response, lower values cause a faster response. A value of zero disables the limit

Increment	Range	Units
0.1	0 to 5	seconds

TRQ2_DIR_DELAY: Torqeedo Direction Change Delay

Note: This parameter is for advanced users

Torqeedo direction change delay. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation

Increment	Range	Units
0.1	0 to 5	seconds

TRQ2_SERVO_FN: Torqeedo Servo Output Function

Note: This parameter is for advanced users

Torqeedo Servo Output Function

Increment	Values
0.1	Value Meaning 70 Throttle 73 ThrottleLeft 74 ThrottleRight

VISO Parameters

VISO_TYPE: Visual odometry camera connection type

Note: This parameter is for advanced users

Note: Reboot required after change

Visual odometry camera connection type

Values
Value Meaning 0 None 1 MAVLink 2 IntelT265 3 VOXL(ModalAI)

VISO_POS_X: Visual odometry camera X position offset

Note: This parameter is for advanced users

X position of the camera in body frame. Positive X is forward of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

VISO_POS_Y: Visual odometry camera Y position offset

Note: This parameter is for advanced users

Y position of the camera in body frame. Positive Y is to the right of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

VISO_POS_Z: Visual odometry camera Z position offset

Note: This parameter is for advanced users

Z position of the camera in body frame. Positive Z is down from the origin.

Increment	Range	Units
0.01	-5 to 5	meters

VISO_ORIENT: Visual odometery camera orientation

Note: This parameter is for advanced users

Visual odometery camera orientation

Values
Value Meaning 0 Forward 2 Right 4 Back 6 Left 24 Up 25 Down

VISO_SCALE: Visual odometry scaling factor

Note: This parameter is for advanced users

Visual odometry scaling factor applied to position estimates from sensor

VISO_DELAY_MS: Visual odometry sensor delay

Note: This parameter is for advanced users

Visual odometry sensor delay relative to inertial measurements

Range	Units
0 to 250	milliseconds

VISO_VEL_M_NSE: Visual odometry velocity measurement noise

Note: This parameter is for advanced users

Visual odometry velocity measurement noise in m/s

Range	Units
0.05 to 5.0	meters per second

VISO_POS_M_NSE: Visual odometry position measurement noise

Note: This parameter is for advanced users

Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)

Range	Units
0.1 to 10.0	meters

VISO_YAW_M_NSE: Visual odometry yaw measurement noise

Note: This parameter is for advanced users

Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)

Range	Units
0.05 to 1.0	radians

VISO_QUAL_MIN: Visual odometry minimum quality

Note: This parameter is for advanced users

Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown

Range	Units
-1 to 100	percent

VTX_ Parameters

VTX_ENABLE: Is the Video Transmitter enabled or not

Toggles the Video Transmitter on and off

Values
Value Meaning 0 Disable 1 Enable

VTX_POWER: Video Transmitter Power Level

Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level

Range
1 to 1000

VTX_CHANNEL: Video Transmitter Channel

Video Transmitter Channel

Range
0 to 7

VTX_BAND: Video Transmitter Band

Video Transmitter Band

Values
Value Meaning 0 Band A 1 Band B 2 Band E 3 Airwave 4 RaceBand 5 Low RaceBand 6 1G3 Band A 7 1G3 Band B 8 Band X 9 3G3 Band A 10 3G3 Band B

VTX_FREQ: Video Transmitter Frequency

Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL

Range	ReadOnly
1000 to 6000	True

VTX_OPTIONS: Video Transmitter Options

Note: This parameter is for advanced users

Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour.

Bitmask
Bit Meaning 0 Pitmode 1 Pitmode until armed 2 Pitmode when disarmed 3 Unlocked 4 Add leading zero byte to requests 5 Use 1 stop-bit in SmartAudio 6 Ignore CRC in SmartAudio 7 Ignore status updates in CRSF and blindly set VTX options

VTX_MAX_POWER: Video Transmitter Max Power Level

Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.

Range
25 to 1000

WENC Parameters

WENC_TYPE: WheelEncoder type

What type of WheelEncoder is connected

Values
Value Meaning 0 None 1 Quadrature 10 SITL Quadrature

WENC_CPR: WheelEncoder counts per revolution

WheelEncoder counts per full revolution of the wheel

Increment
1

WENC_RADIUS: Wheel radius

Wheel radius

Increment	Units
0.001	meters

WENC_POS_X: Wheel's X position offset

X position of the center of the wheel in body frame. Positive X is forward of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

WENC_POS_Y: Wheel's Y position offset

Y position of the center of the wheel in body frame. Positive Y is to the right of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

WENC_POS_Z: Wheel's Z position offset

Z position of the center of the wheel in body frame. Positive Z is down from the origin.

Increment	Range	Units
0.01	-5 to 5	meters

WENC_PINA: Input Pin A

Input Pin A

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

WENC_PINB: Input Pin B

Input Pin B

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

WENC2_TYPE: Second WheelEncoder type

What type of WheelEncoder sensor is connected

Values
Value Meaning 0 None 1 Quadrature 10 SITL Quadrature

WENC2_CPR: WheelEncoder 2 counts per revolution

WheelEncoder 2 counts per full revolution of the wheel

Increment
1

WENC2_RADIUS: Wheel2's radius

Wheel2's radius

Increment	Units
0.001	meters

WENC2_POS_X: Wheel2's X position offset

X position of the center of the second wheel in body frame. Positive X is forward of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

WENC2_POS_Y: Wheel2's Y position offset

Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

WENC2_POS_Z: Wheel2's Z position offset

Z position of the center of the second wheel in body frame. Positive Z is down from the origin.

Increment	Range	Units
0.01	-5 to 5	meters

WENC2_PINA: Second Encoder Input Pin A

Second Encoder Input Pin A

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

WENC2_PINB: Second Encoder Input Pin B

Second Encoder Input Pin B

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

WNDVN_ Parameters

WNDVN_TYPE: Wind Vane Type

Note: Reboot required after change

Wind Vane type

Values
Value Meaning 0 None 1 Heading when armed 2 RC input offset heading when armed 3 Analog 4 NMEA 10 SITL true 11 SITL apparent

WNDVN_DIR_PIN: Wind vane analog voltage pin for direction

Analog input pin to read as wind vane direction

Values
Value Meaning 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

WNDVN_DIR_V_MIN: Wind vane voltage minimum

Minimum voltage supplied by analog wind vane. When using pin 103, the maximum value of the parameter is 3.3V.

Increment	Range	Units
0.01	0 to 5.0	volt

WNDVN_DIR_V_MAX: Wind vane voltage maximum

Maximum voltage supplied by analog wind vane. When using pin 103, the maximum value of the parameter is 3.3V.

Increment	Range	Units
0.01	0 to 5.0	volt

WNDVN_DIR_OFS: Wind vane headwind offset

Angle offset when analog windvane is indicating a headwind, ie 0 degress relative to vehicle

Increment	Range	Units
1	0 to 360	degrees

WNDVN_DIR_FILT: apparent Wind vane direction low pass filter frequency

apparent Wind vane direction low pass filter frequency, a value of -1 disables filter

Units
hertz

WNDVN_CAL: Wind vane calibration start

Start wind vane calibration by setting this to 1 or 2

Values
Value Meaning 0 None 1 Calibrate direction 2 Calibrate speed

WNDVN_DIR_DZ: Wind vane deadzone when using analog sensor

Wind vane deadzone when using analog sensor

Increment	Range	Units
1	0 to 360	degrees

WNDVN_SPEED_MIN: Wind vane cut off wind speed

Wind vane direction will be ignored when apparent wind speeds are below this value (if wind speed sensor is present). If the apparent wind is consistently below this value the vane will not work

Increment	Range	Units
0.1	0 to 5	meters per second

WNDVN_SPEED_TYPE: Wind speed sensor Type

Note: Reboot required after change

Wind speed sensor type

Values
Value Meaning 0 None 1 Airspeed library 2 Modern Devices Wind Sensor 3 RPM library 4 NMEA 10 SITL true 11 SITL apparent

WNDVN_SPEED_PIN: Wind vane speed sensor analog pin

Wind speed analog speed input pin for Modern Devices Wind Sensor rev. p

Values
Value Meaning 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

WNDVN_TEMP_PIN: Wind vane speed sensor analog temp pin

Wind speed sensor analog temp input pin for Modern Devices Wind Sensor rev. p, set to -1 to diasble temp readings

Values
Value Meaning 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

WNDVN_SPEED_OFS: Wind speed sensor analog voltage offset

Wind sensor analog voltage offset at zero wind speed

Increment	Range	Units
0.01	0 to 3.3	volt

WNDVN_SPEED_FILT: apparent wind speed low pass filter frequency

apparent Wind speed low pass filter frequency, a value of -1 disables filter

Units
hertz

WNDVN_TRUE_FILT: True speed and direction low pass filter frequency

True speed and direction low pass filter frequency, a value of -1 disables filter

Units
hertz

WP_ Parameters

WP_SPEED: Waypoint speed default

Waypoint speed default

Increment	Range	Units
0.1	0 to 100	meters per second

WP_RADIUS: Waypoint radius

The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the vehicle will turn toward the next waypoint.

Increment	Range	Units
0.1	0 to 100	meters

WP_ACCEL: Waypoint acceleration

Waypoint acceleration. If zero then ATC_ACCEL_MAX is used

Increment	Range	Units
0.1	0 to 100	meters per square second

WP_JERK: Waypoint jerk

Waypoint jerk (change in acceleration). If zero then jerk is same as acceleration

Increment	Range	Units
0.1	0 to 100	meters per cubic second

WP_PIVOT_ Parameters

WP_PIVOT_ANGLE: Pivot Angle

Pivot when the difference between the vehicle's heading and its target heading is more than this many degrees. Set to zero to disable pivot turns. This parameter should be greater than 5 degrees for pivot turns to work.

Increment	Range	Units
1	0 to 360	degrees

WP_PIVOT_RATE: Pivot Turn Rate

Turn rate during pivot turns

Increment	Range	Units
1	0 to 360	degrees per second

WP_PIVOT_DELAY: Pivot Delay

Vehicle waits this many seconds after completing a pivot turn before proceeding

Increment	Range	Units
0.1	0 to 60	seconds

WRC Parameters

WRC_ENABLE: Wheel rate control enable/disable

Enable or disable wheel rate control

Values
Value Meaning 0 Disabled 1 Enabled

WRC_RATE_MAX: Wheel max rotation rate

Wheel max rotation rate

Range	Units
0 to 200	radians per second

WRC_RATE_FF: Wheel rate control feed forward gain

Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)

Range
0.100 to 2.000

WRC_RATE_P: Wheel rate control P gain

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

Range
0.100 to 2.000

WRC_RATE_I: Wheel rate control I gain

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

Range
0.000 to 2.000

WRC_RATE_IMAX: Wheel rate control I gain maximum

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

Range
0.000 to 1.000

WRC_RATE_D: Wheel rate control D gain

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

Range
0.000 to 0.400

WRC_RATE_FILT: Wheel rate control filter frequency

Wheel rate control input filter. Lower values reduce noise but add delay.

Range	Units
1.000 to 100.000	hertz

WRC_RATE_FLTT: Wheel rate control target frequency in Hz

Wheel rate control target frequency in Hz

Increment	Range	Units
1	1 to 50	hertz

WRC_RATE_FLTE: Wheel rate control error frequency in Hz

Wheel rate control error frequency in Hz

Increment	Range	Units
1	1 to 50	hertz

WRC_RATE_FLTD: Wheel rate control derivative frequency in Hz

Wheel rate control derivative frequency in Hz

Increment	Range	Units
1	1 to 50	hertz

WRC_RATE_SMAX: Wheel rate slew rate limit

Note: This parameter is for advanced users

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

Increment	Range
0.5	0 to 200

WRC_RATE_PDMX: Wheel rate control PD sum maximum

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

Range
0.000 to 1.000

WRC_RATE_D_FF: Wheel rate Derivative FeedForward Gain

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the error

Increment	Range
0.001	0.000 to 0.400

WRC_RATE_NTF: Wheel rate Target notch filter index

Note: This parameter is for advanced users

Wheel rate Target notch filter index

Range
1 to 8

WRC_RATE_NEF: Wheel rate Error notch filter index

Note: This parameter is for advanced users

Wheel rate Error notch filter index

Range
1 to 8

WRC2_RATE_FF: Wheel rate control feed forward gain

Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)

Range
0.100 to 2.000

WRC2_RATE_P: Wheel rate control P gain

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

Range
0.100 to 2.000

WRC2_RATE_I: Wheel rate control I gain

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

Range
0.000 to 2.000

WRC2_RATE_IMAX: Wheel rate control I gain maximum

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

Range
0.000 to 1.000

WRC2_RATE_D: Wheel rate control D gain

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

Range
0.000 to 0.400

WRC2_RATE_FILT: Wheel rate control filter frequency

Wheel rate control input filter. Lower values reduce noise but add delay.

Range	Units
1.000 to 100.000	hertz

WRC2_RATE_FLTT: Wheel rate control target frequency in Hz

Wheel rate control target frequency in Hz

Increment	Range	Units
1	1 to 50	hertz

WRC2_RATE_FLTE: Wheel rate control error frequency in Hz

Wheel rate control error frequency in Hz

Increment	Range	Units
1	1 to 50	hertz

WRC2_RATE_FLTD: Wheel rate control derivative frequency in Hz

Wheel rate control derivative frequency in Hz

Increment	Range	Units
1	1 to 50	hertz

WRC2_RATE_SMAX: Wheel rate slew rate limit

Note: This parameter is for advanced users

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

Increment	Range
0.5	0 to 200

WRC2_RATE_PDMX: Wheel rate control PD sum maximum

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

Range
0.000 to 1.000

WRC2_RATE_D_FF: Wheel rate Derivative FeedForward Gain

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Increment	Range
0.001	0.000 to 0.400

WRC2_RATE_NTF: Wheel rate Target notch filter index

Note: This parameter is for advanced users

Wheel rate Target notch filter index

Range
1 to 8

WRC2_RATE_NEF: Wheel rate Error notch filter index

Note: This parameter is for advanced users

Wheel rate Error notch filter index

Range
1 to 8