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Chris Olson edited this page Feb 29, 2020
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.. Dynamically generated list of documented parameters .. This page was generated using Tools/autotest/param_metadata/param_parse.py
.. DO NOT EDIT
.. _parameters:
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.
.. _parameters_Helicopter:
.. _SYSID_SW_MREV:
SYSID_SW_MREV: Eeprom format version number
| *Note: This parameter is for advanced users*
This value is incremented when changes are made to the eeprom format
+----------+
| ReadOnly |
+==========+
| True |
+----------+
.. _SYSID_THISMAV:
SYSID\_THISMAV: MAVLink system ID of this vehicle
| Note: This parameter is for advanced users
Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
+---------+ | Range | +=========+ | 1 - 255 | +---------+
.. _SYSID_MYGCS:
SYSID_MYGCS: My ground station number
| *Note: This parameter is for advanced users*
Allows restricting radio overrides to only come from my ground station
+----------------------------------------------+
| Values |
+==============================================+
| +-------+----------------------------------+ |
| | Value | Meaning | |
| +=======+==================================+ |
| | 255 | Mission Planner and DroidPlanner | |
| +-------+----------------------------------+ |
| | 252 | AP Planner 2 | |
| +-------+----------------------------------+ |
| |
+----------------------------------------------+
.. _PILOT_THR_FILT:
PILOT\_THR\_FILT: Throttle filter cutoff
| Note: This parameter is for advanced users
Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
+--------+-----------+-------+ | Range | Increment | Units | +========+===========+=======+ | 0 - 10 | .5 | hertz | +--------+-----------+-------+
.. _PILOT_TKOFF_ALT:
PILOT_TKOFF_ALT: Pilot takeoff altitude
Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick\.
+--------------+-----------+-------------+
| Range | Increment | Units |
+==============+===========+=============+
| 0.0 - 1000.0 | 10 | centimeters |
+--------------+-----------+-------------+
.. _PILOT_TKOFF_DZ:
PILOT\_TKOFF\_DZ: Takeoff trigger deadzone
Offset from mid stick at which takeoff is triggered
+---------+-----------+ | Range | Increment | +=========+===========+ | 0 - 500 | 10 | +---------+-----------+
.. _PILOT_THR_BHV:
PILOT_THR_BHV: Throttle stick behavior
Bitmask containing various throttle stick options\. Add up the values for options that you want\.
+-----------------------------------------+-------------------------------------------+
| Bitmask | Values |
+=========================================+===========================================+
| +-----+-------------------------------+ | +-------+-------------------------------+ |
| | Bit | Meaning | | | Value | Meaning | |
| +=====+===============================+ | +=======+===============================+ |
| | 0 | Feedback from mid stick | | | 0 | None | |
| +-----+-------------------------------+ | +-------+-------------------------------+ |
| | 1 | High throttle cancels landing | | | 1 | Feedback from mid stick | |
| +-----+-------------------------------+ | +-------+-------------------------------+ |
| | 2 | Disarm on land detection | | | 2 | High throttle cancels landing | |
| +-----+-------------------------------+ | +-------+-------------------------------+ |
| | | 4 | Disarm on land detection | |
| | +-------+-------------------------------+ |
| | |
+-----------------------------------------+-------------------------------------------+
.. _TELEM_DELAY:
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
+--------+-----------+---------+
| Range | Increment | Units |
+========+===========+=========+
| 0 - 30 | 1 | seconds |
+--------+-----------+---------+
.. _GCS_PID_MASK:
GCS\_PID\_MASK: GCS PID tuning mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
bitmask of PIDs to send MAVLink PID\_TUNING messages for
+-------------------+---------------------+
| Bitmask | Values |
+===================+=====================+
| +-----+---------+ | +-------+---------+ |
| | Bit | Meaning | | | Value | Meaning | |
| +=====+=========+ | +=======+=========+ |
| | 0 | Roll | | | 0 | None | |
| +-----+---------+ | +-------+---------+ |
| | 1 | Pitch | | | 1 | Roll | |
| +-----+---------+ | +-------+---------+ |
| | 2 | Yaw | | | 2 | Pitch | |
| +-----+---------+ | +-------+---------+ |
| | | 4 | Yaw | |
| | +-------+---------+ |
| | |
+-------------------+---------------------+
.. _RTL_ALT:
RTL\_ALT: RTL Altitude
~~~~~~~~~~~~~~~~~~~~~~
The minimum alt above home the vehicle will climb to before returning\. If the vehicle is flying higher than this value it will return at its current altitude\.
+------------+-----------+-------------+
| Range | Increment | Units |
+============+===========+=============+
| 200 - 8000 | 1 | centimeters |
+------------+-----------+-------------+
.. _RTL_CONE_SLOPE:
RTL\_CONE\_SLOPE: RTL cone slope
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Defines a cone above home which determines maximum climb
+------------+----------------------+-----------+
| Range | Values | Increment |
+============+======================+===========+
| 0.5 - 10.0 | +-------+----------+ | .1 |
| | | Value | Meaning | | |
| | +=======+==========+ | |
| | | 0 | Disabled | | |
| | +-------+----------+ | |
| | | 1 | Shallow | | |
| | +-------+----------+ | |
| | | 3 | Steep | | |
| | +-------+----------+ | |
| | | |
+------------+----------------------+-----------+
.. _RTL_SPEED:
RTL\_SPEED: RTL speed
~~~~~~~~~~~~~~~~~~~~~
Defines the speed in cm\/s which the aircraft will attempt to maintain horizontally while flying home\. If this is set to zero\, WPNAV\_SPEED will be used instead\.
+----------+-----------+------------------------+
| Range | Increment | Units |
+==========+===========+========================+
| 0 - 2000 | 50 | centimeters per second |
+----------+-----------+------------------------+
.. _RTL_ALT_FINAL:
RTL\_ALT\_FINAL: RTL Final Altitude
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission\. Set to zero to land\.
+-----------+-----------+-------------+
| Range | Increment | Units |
+===========+===========+=============+
| -1 - 1000 | 1 | centimeters |
+-----------+-----------+-------------+
.. _RTL_CLIMB_MIN:
RTL\_CLIMB\_MIN: RTL minimum climb
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The vehicle will climb this many cm during the initial climb portion of the RTL
+----------+-----------+-------------+
| Range | Increment | Units |
+==========+===========+=============+
| 0 - 3000 | 10 | centimeters |
+----------+-----------+-------------+
.. _RTL_LOIT_TIME:
RTL\_LOIT\_TIME: RTL loiter time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Time \(in milliseconds\) to loiter above home before beginning final descent
+-----------+-----------+--------------+
| Range | Increment | Units |
+===========+===========+==============+
| 0 - 60000 | 1000 | milliseconds |
+-----------+-----------+--------------+
.. _RNGFND_GAIN:
RNGFND\_GAIN: Rangefinder gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter
+------------+-----------+
| Range | Increment |
+============+===========+
| 0.01 - 2.0 | 0.01 |
+------------+-----------+
.. _FS_GCS_ENABLE:
FS\_GCS\_ENABLE: Ground Station Failsafe Enable
Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle.
+--------------------------------------------------------+ | Values | +========================================================+ | +-------+--------------------------------------------+ | | | Value | Meaning | | | +=======+============================================+ | | | 0 | Disabled | | | +-------+--------------------------------------------+ | | | 1 | Enabled always RTL | | | +-------+--------------------------------------------+ | | | 2 | Enabled Continue with Mission in Auto Mode | | | +-------+--------------------------------------------+ | | | 3 | Enabled always SmartRTL or RTL | | | +-------+--------------------------------------------+ | | | 4 | Enabled always SmartRTL or Land | | | +-------+--------------------------------------------+ | | | +--------------------------------------------------------+
.. _GPS_HDOP_GOOD:
GPS_HDOP_GOOD: GPS Hdop Good
| *Note: This parameter is for advanced users*
GPS Hdop value at or below this value represent a good position\. Used for pre\-arm checks
+-----------+
| Range |
+===========+
| 100 - 900 |
+-----------+
.. _MAG_ENABLE:
MAG\_ENABLE: Compass enable\/disable
Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
+----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+
.. _SUPER_SIMPLE:
SUPER_SIMPLE: Super Simple Mode
Bitmask to enable Super Simple mode for some flight modes\. Setting this to Disabled\(0\) will disable Super Simple Mode
+-----------------------------+
| Values |
+=============================+
| +-------+-----------------+ |
| | Value | Meaning | |
| +=======+=================+ |
| | 0 | Disabled | |
| +-------+-----------------+ |
| | 1 | Mode1 | |
| +-------+-----------------+ |
| | 2 | Mode2 | |
| +-------+-----------------+ |
| | 3 | Mode1+2 | |
| +-------+-----------------+ |
| | 4 | Mode3 | |
| +-------+-----------------+ |
| | 5 | Mode1+3 | |
| +-------+-----------------+ |
| | 6 | Mode2+3 | |
| +-------+-----------------+ |
| | 7 | Mode1+2+3 | |
| +-------+-----------------+ |
| | 8 | Mode4 | |
| +-------+-----------------+ |
| | 9 | Mode1+4 | |
| +-------+-----------------+ |
| | 10 | Mode2+4 | |
| +-------+-----------------+ |
| | 11 | Mode1+2+4 | |
| +-------+-----------------+ |
| | 12 | Mode3+4 | |
| +-------+-----------------+ |
| | 13 | Mode1+3+4 | |
| +-------+-----------------+ |
| | 14 | Mode2+3+4 | |
| +-------+-----------------+ |
| | 15 | Mode1+2+3+4 | |
| +-------+-----------------+ |
| | 16 | Mode5 | |
| +-------+-----------------+ |
| | 17 | Mode1+5 | |
| +-------+-----------------+ |
| | 18 | Mode2+5 | |
| +-------+-----------------+ |
| | 19 | Mode1+2+5 | |
| +-------+-----------------+ |
| | 20 | Mode3+5 | |
| +-------+-----------------+ |
| | 21 | Mode1+3+5 | |
| +-------+-----------------+ |
| | 22 | Mode2+3+5 | |
| +-------+-----------------+ |
| | 23 | Mode1+2+3+5 | |
| +-------+-----------------+ |
| | 24 | Mode4+5 | |
| +-------+-----------------+ |
| | 25 | Mode1+4+5 | |
| +-------+-----------------+ |
| | 26 | Mode2+4+5 | |
| +-------+-----------------+ |
| | 27 | Mode1+2+4+5 | |
| +-------+-----------------+ |
| | 28 | Mode3+4+5 | |
| +-------+-----------------+ |
| | 29 | Mode1+3+4+5 | |
| +-------+-----------------+ |
| | 30 | Mode2+3+4+5 | |
| +-------+-----------------+ |
| | 31 | Mode1+2+3+4+5 | |
| +-------+-----------------+ |
| | 32 | Mode6 | |
| +-------+-----------------+ |
| | 33 | Mode1+6 | |
| +-------+-----------------+ |
| | 34 | Mode2+6 | |
| +-------+-----------------+ |
| | 35 | Mode1+2+6 | |
| +-------+-----------------+ |
| | 36 | Mode3+6 | |
| +-------+-----------------+ |
| | 37 | Mode1+3+6 | |
| +-------+-----------------+ |
| | 38 | Mode2+3+6 | |
| +-------+-----------------+ |
| | 39 | Mode1+2+3+6 | |
| +-------+-----------------+ |
| | 40 | Mode4+6 | |
| +-------+-----------------+ |
| | 41 | Mode1+4+6 | |
| +-------+-----------------+ |
| | 42 | Mode2+4+6 | |
| +-------+-----------------+ |
| | 43 | Mode1+2+4+6 | |
| +-------+-----------------+ |
| | 44 | Mode3+4+6 | |
| +-------+-----------------+ |
| | 45 | Mode1+3+4+6 | |
| +-------+-----------------+ |
| | 46 | Mode2+3+4+6 | |
| +-------+-----------------+ |
| | 47 | Mode1+2+3+4+6 | |
| +-------+-----------------+ |
| | 48 | Mode5+6 | |
| +-------+-----------------+ |
| | 49 | Mode1+5+6 | |
| +-------+-----------------+ |
| | 50 | Mode2+5+6 | |
| +-------+-----------------+ |
| | 51 | Mode1+2+5+6 | |
| +-------+-----------------+ |
| | 52 | Mode3+5+6 | |
| +-------+-----------------+ |
| | 53 | Mode1+3+5+6 | |
| +-------+-----------------+ |
| | 54 | Mode2+3+5+6 | |
| +-------+-----------------+ |
| | 55 | Mode1+2+3+5+6 | |
| +-------+-----------------+ |
| | 56 | Mode4+5+6 | |
| +-------+-----------------+ |
| | 57 | Mode1+4+5+6 | |
| +-------+-----------------+ |
| | 58 | Mode2+4+5+6 | |
| +-------+-----------------+ |
| | 59 | Mode1+2+4+5+6 | |
| +-------+-----------------+ |
| | 60 | Mode3+4+5+6 | |
| +-------+-----------------+ |
| | 61 | Mode1+3+4+5+6 | |
| +-------+-----------------+ |
| | 62 | Mode2+3+4+5+6 | |
| +-------+-----------------+ |
| | 63 | Mode1+2+3+4+5+6 | |
| +-------+-----------------+ |
| |
+-----------------------------+
.. _WP_YAW_BEHAVIOR:
WP\_YAW\_BEHAVIOR: Yaw behaviour during missions
Determines how the autopilot controls the yaw during missions and RTL
+-------------------------------------------+ | Values | +===========================================+ | +-------+-------------------------------+ | | | Value | Meaning | | | +=======+===============================+ | | | 0 | Never change yaw | | | +-------+-------------------------------+ | | | 1 | Face next waypoint | | | +-------+-------------------------------+ | | | 2 | Face next waypoint except RTL | | | +-------+-------------------------------+ | | | 3 | Face along GPS course | | | +-------+-------------------------------+ | | | +-------------------------------------------+
.. _LAND_SPEED:
LAND_SPEED: Land speed
The descent speed for the final stage of landing in cm\/s
+----------+-----------+------------------------+
| Range | Increment | Units |
+==========+===========+========================+
| 30 - 200 | 10 | centimeters per second |
+----------+-----------+------------------------+
.. _LAND_SPEED_HIGH:
LAND\_SPEED\_HIGH: Land speed high
The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used
+---------+-----------+------------------------+ | Range | Increment | Units | +=========+===========+========================+ | 0 - 500 | 10 | centimeters per second | +---------+-----------+------------------------+
.. _PILOT_SPEED_UP:
PILOT_SPEED_UP: Pilot maximum vertical speed ascending
The maximum vertical ascending velocity the pilot may request in cm\/s
+----------+-----------+------------------------+
| Range | Increment | Units |
+==========+===========+========================+
| 50 - 500 | 10 | centimeters per second |
+----------+-----------+------------------------+
.. _PILOT_ACCEL_Z:
PILOT\_ACCEL\_Z: Pilot vertical acceleration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The vertical acceleration used when pilot is controlling the altitude
+----------+-----------+-------------------------------+
| Range | Increment | Units |
+==========+===========+===============================+
| 50 - 500 | 10 | centimeters per square second |
+----------+-----------+-------------------------------+
.. _FS_THR_ENABLE:
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
+--------------------------------------------------------+
| Values |
+========================================================+
| +-------+--------------------------------------------+ |
| | Value | Meaning | |
| +=======+============================================+ |
| | 0 | Disabled | |
| +-------+--------------------------------------------+ |
| | 1 | Enabled always RTL | |
| +-------+--------------------------------------------+ |
| | 2 | Enabled Continue with Mission in Auto Mode | |
| +-------+--------------------------------------------+ |
| | 3 | Enabled always Land | |
| +-------+--------------------------------------------+ |
| | 4 | Enabled always SmartRTL or RTL | |
| +-------+--------------------------------------------+ |
| | 5 | Enabled always SmartRTL or Land | |
| +-------+--------------------------------------------+ |
| |
+--------------------------------------------------------+
.. _FS_THR_VALUE:
FS\_THR\_VALUE: Throttle Failsafe Value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The PWM level in microseconds on channel 3 below which throttle failsafe triggers
+------------+-----------+---------------------+
| Range | Increment | Units |
+============+===========+=====================+
| 925 - 1100 | 1 | PWM in microseconds |
+------------+-----------+---------------------+
.. _THR_DZ:
THR\_DZ: Throttle deadzone
~~~~~~~~~~~~~~~~~~~~~~~~~~
The deadzone above and below mid throttle in PWM microseconds\. Used in AltHold\, Loiter\, PosHold flight modes
+---------+-----------+---------------------+
| Range | Increment | Units |
+=========+===========+=====================+
| 0 - 300 | 1 | PWM in microseconds |
+---------+-----------+---------------------+
.. _FLTMODE1:
FLTMODE1: Flight Mode 1
~~~~~~~~~~~~~~~~~~~~~~~
Flight mode when Channel 5 pwm is \<\= 1230
+--------------------------+
| Values |
+==========================+
| +-------+--------------+ |
| | Value | Meaning | |
| +=======+==============+ |
| | 0 | Stabilize | |
| +-------+--------------+ |
| | 1 | Acro | |
| +-------+--------------+ |
| | 2 | AltHold | |
| +-------+--------------+ |
| | 3 | Auto | |
| +-------+--------------+ |
| | 4 | Guided | |
| +-------+--------------+ |
| | 5 | Loiter | |
| +-------+--------------+ |
| | 6 | RTL | |
| +-------+--------------+ |
| | 7 | Circle | |
| +-------+--------------+ |
| | 9 | Land | |
| +-------+--------------+ |
| | 11 | Drift | |
| +-------+--------------+ |
| | 13 | Sport | |
| +-------+--------------+ |
| | 14 | Flip | |
| +-------+--------------+ |
| | 15 | AutoTune | |
| +-------+--------------+ |
| | 16 | PosHold | |
| +-------+--------------+ |
| | 17 | Brake | |
| +-------+--------------+ |
| | 18 | Throw | |
| +-------+--------------+ |
| | 19 | Avoid_ADSB | |
| +-------+--------------+ |
| | 20 | Guided_NoGPS | |
| +-------+--------------+ |
| | 21 | Smart_RTL | |
| +-------+--------------+ |
| | 22 | FlowHold | |
| +-------+--------------+ |
| | 23 | Follow | |
| +-------+--------------+ |
| |
+--------------------------+
.. _FLTMODE2:
FLTMODE2: Flight Mode 2
~~~~~~~~~~~~~~~~~~~~~~~
Flight mode when Channel 5 pwm is \>1230\, \<\= 1360
+--------------------------+
| Values |
+==========================+
| +-------+--------------+ |
| | Value | Meaning | |
| +=======+==============+ |
| | 0 | Stabilize | |
| +-------+--------------+ |
| | 1 | Acro | |
| +-------+--------------+ |
| | 2 | AltHold | |
| +-------+--------------+ |
| | 3 | Auto | |
| +-------+--------------+ |
| | 4 | Guided | |
| +-------+--------------+ |
| | 5 | Loiter | |
| +-------+--------------+ |
| | 6 | RTL | |
| +-------+--------------+ |
| | 7 | Circle | |
| +-------+--------------+ |
| | 9 | Land | |
| +-------+--------------+ |
| | 11 | Drift | |
| +-------+--------------+ |
| | 13 | Sport | |
| +-------+--------------+ |
| | 14 | Flip | |
| +-------+--------------+ |
| | 15 | AutoTune | |
| +-------+--------------+ |
| | 16 | PosHold | |
| +-------+--------------+ |
| | 17 | Brake | |
| +-------+--------------+ |
| | 18 | Throw | |
| +-------+--------------+ |
| | 19 | Avoid_ADSB | |
| +-------+--------------+ |
| | 20 | Guided_NoGPS | |
| +-------+--------------+ |
| | 21 | Smart_RTL | |
| +-------+--------------+ |
| | 22 | FlowHold | |
| +-------+--------------+ |
| | 23 | Follow | |
| +-------+--------------+ |
| |
+--------------------------+
.. _FLTMODE3:
FLTMODE3: Flight Mode 3
~~~~~~~~~~~~~~~~~~~~~~~
Flight mode when Channel 5 pwm is \>1360\, \<\= 1490
+--------------------------+
| Values |
+==========================+
| +-------+--------------+ |
| | Value | Meaning | |
| +=======+==============+ |
| | 0 | Stabilize | |
| +-------+--------------+ |
| | 1 | Acro | |
| +-------+--------------+ |
| | 2 | AltHold | |
| +-------+--------------+ |
| | 3 | Auto | |
| +-------+--------------+ |
| | 4 | Guided | |
| +-------+--------------+ |
| | 5 | Loiter | |
| +-------+--------------+ |
| | 6 | RTL | |
| +-------+--------------+ |
| | 7 | Circle | |
| +-------+--------------+ |
| | 9 | Land | |
| +-------+--------------+ |
| | 11 | Drift | |
| +-------+--------------+ |
| | 13 | Sport | |
| +-------+--------------+ |
| | 14 | Flip | |
| +-------+--------------+ |
| | 15 | AutoTune | |
| +-------+--------------+ |
| | 16 | PosHold | |
| +-------+--------------+ |
| | 17 | Brake | |
| +-------+--------------+ |
| | 18 | Throw | |
| +-------+--------------+ |
| | 19 | Avoid_ADSB | |
| +-------+--------------+ |
| | 20 | Guided_NoGPS | |
| +-------+--------------+ |
| | 21 | Smart_RTL | |
| +-------+--------------+ |
| | 22 | FlowHold | |
| +-------+--------------+ |
| | 23 | Follow | |
| +-------+--------------+ |
| |
+--------------------------+
.. _FLTMODE4:
FLTMODE4: Flight Mode 4
~~~~~~~~~~~~~~~~~~~~~~~
Flight mode when Channel 5 pwm is \>1490\, \<\= 1620
+--------------------------+
| Values |
+==========================+
| +-------+--------------+ |
| | Value | Meaning | |
| +=======+==============+ |
| | 0 | Stabilize | |
| +-------+--------------+ |
| | 1 | Acro | |
| +-------+--------------+ |
| | 2 | AltHold | |
| +-------+--------------+ |
| | 3 | Auto | |
| +-------+--------------+ |
| | 4 | Guided | |
| +-------+--------------+ |
| | 5 | Loiter | |
| +-------+--------------+ |
| | 6 | RTL | |
| +-------+--------------+ |
| | 7 | Circle | |
| +-------+--------------+ |
| | 9 | Land | |
| +-------+--------------+ |
| | 11 | Drift | |
| +-------+--------------+ |
| | 13 | Sport | |
| +-------+--------------+ |
| | 14 | Flip | |
| +-------+--------------+ |
| | 15 | AutoTune | |
| +-------+--------------+ |
| | 16 | PosHold | |
| +-------+--------------+ |
| | 17 | Brake | |
| +-------+--------------+ |
| | 18 | Throw | |
| +-------+--------------+ |
| | 19 | Avoid_ADSB | |
| +-------+--------------+ |
| | 20 | Guided_NoGPS | |
| +-------+--------------+ |
| | 21 | Smart_RTL | |
| +-------+--------------+ |
| | 22 | FlowHold | |
| +-------+--------------+ |
| | 23 | Follow | |
| +-------+--------------+ |
| |
+--------------------------+
.. _FLTMODE5:
FLTMODE5: Flight Mode 5
~~~~~~~~~~~~~~~~~~~~~~~
Flight mode when Channel 5 pwm is \>1620\, \<\= 1749
+--------------------------+
| Values |
+==========================+
| +-------+--------------+ |
| | Value | Meaning | |
| +=======+==============+ |
| | 0 | Stabilize | |
| +-------+--------------+ |
| | 1 | Acro | |
| +-------+--------------+ |
| | 2 | AltHold | |
| +-------+--------------+ |
| | 3 | Auto | |
| +-------+--------------+ |
| | 4 | Guided | |
| +-------+--------------+ |
| | 5 | Loiter | |
| +-------+--------------+ |
| | 6 | RTL | |
| +-------+--------------+ |
| | 7 | Circle | |
| +-------+--------------+ |
| | 9 | Land | |
| +-------+--------------+ |
| | 11 | Drift | |
| +-------+--------------+ |
| | 13 | Sport | |
| +-------+--------------+ |
| | 14 | Flip | |
| +-------+--------------+ |
| | 15 | AutoTune | |
| +-------+--------------+ |
| | 16 | PosHold | |
| +-------+--------------+ |
| | 17 | Brake | |
| +-------+--------------+ |
| | 18 | Throw | |
| +-------+--------------+ |
| | 19 | Avoid_ADSB | |
| +-------+--------------+ |
| | 20 | Guided_NoGPS | |
| +-------+--------------+ |
| | 21 | Smart_RTL | |
| +-------+--------------+ |
| | 22 | FlowHold | |
| +-------+--------------+ |
| | 23 | Follow | |
| +-------+--------------+ |
| |
+--------------------------+
.. _FLTMODE6:
FLTMODE6: Flight Mode 6
~~~~~~~~~~~~~~~~~~~~~~~
Flight mode when Channel 5 pwm is \>\=1750
+--------------------------+
| Values |
+==========================+
| +-------+--------------+ |
| | Value | Meaning | |
| +=======+==============+ |
| | 0 | Stabilize | |
| +-------+--------------+ |
| | 1 | Acro | |
| +-------+--------------+ |
| | 2 | AltHold | |
| +-------+--------------+ |
| | 3 | Auto | |
| +-------+--------------+ |
| | 4 | Guided | |
| +-------+--------------+ |
| | 5 | Loiter | |
| +-------+--------------+ |
| | 6 | RTL | |
| +-------+--------------+ |
| | 7 | Circle | |
| +-------+--------------+ |
| | 9 | Land | |
| +-------+--------------+ |
| | 11 | Drift | |
| +-------+--------------+ |
| | 13 | Sport | |
| +-------+--------------+ |
| | 14 | Flip | |
| +-------+--------------+ |
| | 15 | AutoTune | |
| +-------+--------------+ |
| | 16 | PosHold | |
| +-------+--------------+ |
| | 17 | Brake | |
| +-------+--------------+ |
| | 18 | Throw | |
| +-------+--------------+ |
| | 19 | Avoid_ADSB | |
| +-------+--------------+ |
| | 20 | Guided_NoGPS | |
| +-------+--------------+ |
| | 21 | Smart_RTL | |
| +-------+--------------+ |
| | 22 | FlowHold | |
| +-------+--------------+ |
| | 23 | Follow | |
| +-------+--------------+ |
| |
+--------------------------+
.. _FLTMODE_CH:
FLTMODE\_CH: Flightmode channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
RC Channel to use for flight mode control
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 5 | Channel5 | |
| +-------+----------+ |
| | 6 | Channel6 | |
| +-------+----------+ |
| | 7 | Channel7 | |
| +-------+----------+ |
| | 8 | Channel8 | |
| +-------+----------+ |
| |
+----------------------+
.. _SIMPLE:
SIMPLE: Simple mode bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bitmask which holds which flight modes use simple heading mode \(eg bit 0 \= 1 means Flight Mode 0 uses simple mode\)
.. _LOG_BITMASK:
LOG\_BITMASK: Log bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~
4 byte bitmap of log types to enable
+-------------------------+------------------------------+
| Bitmask | Values |
+=========================+==============================+
| +-----+---------------+ | +--------+-----------------+ |
| | Bit | Meaning | | | Value | Meaning | |
| +=====+===============+ | +========+=================+ |
| | 0 | ATTITUDE_FAST | | | 830 | Default | |
| +-----+---------------+ | +--------+-----------------+ |
| | 1 | ATTITUDE_MED | | | 894 | Default+RCIN | |
| +-----+---------------+ | +--------+-----------------+ |
| | 2 | GPS | | | 958 | Default+IMU | |
| +-----+---------------+ | +--------+-----------------+ |
| | 3 | PM | | | 1854 | Default+Motors | |
| +-----+---------------+ | +--------+-----------------+ |
| | 4 | CTUN | | | -6146 | NearlyAll-AC315 | |
| +-----+---------------+ | +--------+-----------------+ |
| | 5 | NTUN | | | 45054 | NearlyAll | |
| +-----+---------------+ | +--------+-----------------+ |
| | 6 | RCIN | | | 131071 | All+FastATT | |
| +-----+---------------+ | +--------+-----------------+ |
| | 7 | IMU | | | 262142 | All+MotBatt | |
| +-----+---------------+ | +--------+-----------------+ |
| | 8 | CMD | | | 393214 | All+FastIMU | |
| +-----+---------------+ | +--------+-----------------+ |
| | 9 | CURRENT | | | 397310 | All+FastIMU+PID | |
| +-----+---------------+ | +--------+-----------------+ |
| | 10 | RCOUT | | | 655358 | All+FullIMU | |
| +-----+---------------+ | +--------+-----------------+ |
| | 11 | OPTFLOW | | | 0 | Disabled | |
| +-----+---------------+ | +--------+-----------------+ |
| | 12 | PID | | |
| +-----+---------------+ | |
| | 13 | COMPASS | | |
| +-----+---------------+ | |
| | 14 | INAV | | |
| +-----+---------------+ | |
| | 15 | CAMERA | | |
| +-----+---------------+ | |
| | 17 | MOTBATT | | |
| +-----+---------------+ | |
| | 18 | IMU_FAST | | |
| +-----+---------------+ | |
| | 19 | IMU_RAW | | |
| +-----+---------------+ | |
| | |
+-------------------------+------------------------------+
.. _ESC_CALIBRATION:
ESC\_CALIBRATION: ESC Calibration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Controls whether ArduCopter will enter ESC calibration on the next restart\. Do not adjust this parameter manually\.
+---------------------------------------------------------------------+
| Values |
+=====================================================================+
| +-------+---------------------------------------------------------+ |
| | Value | Meaning | |
| +=======+=========================================================+ |
| | 0 | Normal Start-up | |
| +-------+---------------------------------------------------------+ |
| | 1 | Start-up in ESC Calibration mode if throttle high | |
| +-------+---------------------------------------------------------+ |
| | 2 | Start-up in ESC Calibration mode regardless of throttle | |
| +-------+---------------------------------------------------------+ |
| | 3 | Start-up and automatically calibrate ESCs | |
| +-------+---------------------------------------------------------+ |
| | 9 | Disabled | |
| +-------+---------------------------------------------------------+ |
| |
+---------------------------------------------------------------------+
.. _TUNE:
TUNE: Channel 6 Tuning
~~~~~~~~~~~~~~~~~~~~~~
Controls which parameters \(normally PID gains\) are being tuned with transmitter\'s channel 6 knob
+--------------------------------+
| Values |
+================================+
| +-------+--------------------+ |
| | Value | Meaning | |
| +=======+====================+ |
| | 0 | None | |
| +-------+--------------------+ |
| | 1 | Stab Roll/Pitch kP | |
| +-------+--------------------+ |
| | 4 | Rate Roll/Pitch kP | |
| +-------+--------------------+ |
| | 5 | Rate Roll/Pitch kI | |
| +-------+--------------------+ |
| | 21 | Rate Roll/Pitch kD | |
| +-------+--------------------+ |
| | 3 | Stab Yaw kP | |
| +-------+--------------------+ |
| | 6 | Rate Yaw kP | |
| +-------+--------------------+ |
| | 26 | Rate Yaw kD | |
| +-------+--------------------+ |
| | 56 | Rate Yaw Filter | |
| +-------+--------------------+ |
| | 55 | Motor Yaw Headroom | |
| +-------+--------------------+ |
| | 14 | AltHold kP | |
| +-------+--------------------+ |
| | 7 | Throttle Rate kP | |
| +-------+--------------------+ |
| | 34 | Throttle Accel kP | |
| +-------+--------------------+ |
| | 35 | Throttle Accel kI | |
| +-------+--------------------+ |
| | 36 | Throttle Accel kD | |
| +-------+--------------------+ |
| | 12 | Loiter Pos kP | |
| +-------+--------------------+ |
| | 22 | Velocity XY kP | |
| +-------+--------------------+ |
| | 28 | Velocity XY kI | |
| +-------+--------------------+ |
| | 10 | WP Speed | |
| +-------+--------------------+ |
| | 25 | Acro RollPitch kP | |
| +-------+--------------------+ |
| | 40 | Acro Yaw kP | |
| +-------+--------------------+ |
| | 45 | RC Feel | |
| +-------+--------------------+ |
| | 13 | Heli Ext Gyro | |
| +-------+--------------------+ |
| | 38 | Declination | |
| +-------+--------------------+ |
| | 39 | Circle Rate | |
| +-------+--------------------+ |
| | 41 | RangeFinder Gain | |
| +-------+--------------------+ |
| | 46 | Rate Pitch kP | |
| +-------+--------------------+ |
| | 47 | Rate Pitch kI | |
| +-------+--------------------+ |
| | 48 | Rate Pitch kD | |
| +-------+--------------------+ |
| | 49 | Rate Roll kP | |
| +-------+--------------------+ |
| | 50 | Rate Roll kI | |
| +-------+--------------------+ |
| | 51 | Rate Roll kD | |
| +-------+--------------------+ |
| | 52 | Rate Pitch FF | |
| +-------+--------------------+ |
| | 53 | Rate Roll FF | |
| +-------+--------------------+ |
| | 54 | Rate Yaw FF | |
| +-------+--------------------+ |
| | 57 | Winch | |
| +-------+--------------------+ |
| |
+--------------------------------+
.. _TUNE_LOW:
TUNE\_LOW: Tuning minimum
~~~~~~~~~~~~~~~~~~~~~~~~~
The minimum value that will be applied to the parameter currently being tuned with the transmitter\'s channel 6 knob
+-----------+
| Range |
+===========+
| 0 - 32767 |
+-----------+
.. _TUNE_HIGH:
TUNE\_HIGH: Tuning maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~
The maximum value that will be applied to the parameter currently being tuned with the transmitter\'s channel 6 knob
+-----------+
| Range |
+===========+
| 0 - 32767 |
+-----------+
.. _FRAME_TYPE:
FRAME\_TYPE: Frame Type \(\+\, X\, V\, etc\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Controls motor mixing for multicopters\. Not used for Tri or Traditional Helicopters\.
+---------------------+----------------+
| Values | RebootRequired |
+=====================+================+
| +-------+---------+ | True |
| | Value | Meaning | | |
| +=======+=========+ | |
| | 0 | Plus | | |
| +-------+---------+ | |
| | 1 | X | | |
| +-------+---------+ | |
| | 2 | V | | |
| +-------+---------+ | |
| | 3 | H | | |
| +-------+---------+ | |
| | 4 | V-Tail | | |
| +-------+---------+ | |
| | 5 | A-Tail | | |
| +-------+---------+ | |
| | 10 | Y6B | | |
| +-------+---------+ | |
| | |
+---------------------+----------------+
.. _CH7_OPT:
CH7\_OPT: Channel 7 option
~~~~~~~~~~~~~~~~~~~~~~~~~~
Select which function is performed when CH7 is above 1800 pwm
+----------------------------------+
| Values |
+==================================+
| +-------+----------------------+ |
| | Value | Meaning | |
| +=======+======================+ |
| | 0 | Do Nothing | |
| +-------+----------------------+ |
| | 2 | Flip | |
| +-------+----------------------+ |
| | 3 | Simple Mode | |
| +-------+----------------------+ |
| | 4 | RTL | |
| +-------+----------------------+ |
| | 5 | Save Trim | |
| +-------+----------------------+ |
| | 7 | Save WP | |
| +-------+----------------------+ |
| | 9 | Camera Trigger | |
| +-------+----------------------+ |
| | 10 | RangeFinder | |
| +-------+----------------------+ |
| | 11 | Fence | |
| +-------+----------------------+ |
| | 13 | Super Simple Mode | |
| +-------+----------------------+ |
| | 14 | Acro Trainer | |
| +-------+----------------------+ |
| | 15 | Sprayer | |
| +-------+----------------------+ |
| | 16 | Auto | |
| +-------+----------------------+ |
| | 17 | AutoTune | |
| +-------+----------------------+ |
| | 18 | Land | |
| +-------+----------------------+ |
| | 19 | Gripper | |
| +-------+----------------------+ |
| | 21 | Parachute Enable | |
| +-------+----------------------+ |
| | 22 | Parachute Release | |
| +-------+----------------------+ |
| | 23 | Parachute 3pos | |
| +-------+----------------------+ |
| | 24 | Auto Mission Reset | |
| +-------+----------------------+ |
| | 25 | AttCon Feed Forward | |
| +-------+----------------------+ |
| | 26 | AttCon Accel Limits | |
| +-------+----------------------+ |
| | 27 | Retract Mount | |
| +-------+----------------------+ |
| | 28 | Relay On/Off | |
| +-------+----------------------+ |
| | 34 | Relay2 On/Off | |
| +-------+----------------------+ |
| | 35 | Relay3 On/Off | |
| +-------+----------------------+ |
| | 36 | Relay4 On/Off | |
| +-------+----------------------+ |
| | 29 | Landing Gear | |
| +-------+----------------------+ |
| | 30 | Lost Copter Sound | |
| +-------+----------------------+ |
| | 31 | Motor Emergency Stop | |
| +-------+----------------------+ |
| | 32 | Motor Interlock | |
| +-------+----------------------+ |
| | 33 | Brake | |
| +-------+----------------------+ |
| | 37 | Throw | |
| +-------+----------------------+ |
| | 38 | ADSB-Avoidance | |
| +-------+----------------------+ |
| | 39 | PrecLoiter | |
| +-------+----------------------+ |
| | 40 | Object Avoidance | |
| +-------+----------------------+ |
| | 41 | ArmDisarm | |
| +-------+----------------------+ |
| | 42 | SmartRTL | |
| +-------+----------------------+ |
| | 43 | Governor | |
| +-------+----------------------+ |
| | 44 | Winch Enable | |
| +-------+----------------------+ |
| | 45 | WinchControl | |
| +-------+----------------------+ |
| | 100 | KillIMU1 | |
| +-------+----------------------+ |
| | 101 | KillIMU2 | |
| +-------+----------------------+ |
| |
+----------------------------------+
.. _CH8_OPT:
CH8\_OPT: Channel 8 option
~~~~~~~~~~~~~~~~~~~~~~~~~~
Select which function is performed when CH8 is above 1800 pwm
+----------------------------------+
| Values |
+==================================+
| +-------+----------------------+ |
| | Value | Meaning | |
| +=======+======================+ |
| | 0 | Do Nothing | |
| +-------+----------------------+ |
| | 2 | Flip | |
| +-------+----------------------+ |
| | 3 | Simple Mode | |
| +-------+----------------------+ |
| | 4 | RTL | |
| +-------+----------------------+ |
| | 5 | Save Trim | |
| +-------+----------------------+ |
| | 7 | Save WP | |
| +-------+----------------------+ |
| | 9 | Camera Trigger | |
| +-------+----------------------+ |
| | 10 | RangeFinder | |
| +-------+----------------------+ |
| | 11 | Fence | |
| +-------+----------------------+ |
| | 13 | Super Simple Mode | |
| +-------+----------------------+ |
| | 14 | Acro Trainer | |
| +-------+----------------------+ |
| | 15 | Sprayer | |
| +-------+----------------------+ |
| | 16 | Auto | |
| +-------+----------------------+ |
| | 17 | AutoTune | |
| +-------+----------------------+ |
| | 18 | Land | |
| +-------+----------------------+ |
| | 19 | Gripper | |
| +-------+----------------------+ |
| | 21 | Parachute Enable | |
| +-------+----------------------+ |
| | 22 | Parachute Release | |
| +-------+----------------------+ |
| | 23 | Parachute 3pos | |
| +-------+----------------------+ |
| | 24 | Auto Mission Reset | |
| +-------+----------------------+ |
| | 25 | AttCon Feed Forward | |
| +-------+----------------------+ |
| | 26 | AttCon Accel Limits | |
| +-------+----------------------+ |
| | 27 | Retract Mount | |
| +-------+----------------------+ |
| | 28 | Relay On/Off | |
| +-------+----------------------+ |
| | 34 | Relay2 On/Off | |
| +-------+----------------------+ |
| | 35 | Relay3 On/Off | |
| +-------+----------------------+ |
| | 36 | Relay4 On/Off | |
| +-------+----------------------+ |
| | 29 | Landing Gear | |
| +-------+----------------------+ |
| | 30 | Lost Copter Sound | |
| +-------+----------------------+ |
| | 31 | Motor Emergency Stop | |
| +-------+----------------------+ |
| | 32 | Motor Interlock | |
| +-------+----------------------+ |
| | 33 | Brake | |
| +-------+----------------------+ |
| | 37 | Throw | |
| +-------+----------------------+ |
| | 38 | ADSB-Avoidance | |
| +-------+----------------------+ |
| | 39 | PrecLoiter | |
| +-------+----------------------+ |
| | 40 | Object Avoidance | |
| +-------+----------------------+ |
| | 41 | ArmDisarm | |
| +-------+----------------------+ |
| | 42 | SmartRTL | |
| +-------+----------------------+ |
| | 43 | Governor | |
| +-------+----------------------+ |
| | 44 | Winch Enable | |
| +-------+----------------------+ |
| | 45 | WinchControl | |
| +-------+----------------------+ |
| | 100 | KillIMU1 | |
| +-------+----------------------+ |
| | 101 | KillIMU2 | |
| +-------+----------------------+ |
| |
+----------------------------------+
.. _CH9_OPT:
CH9\_OPT: Channel 9 option
~~~~~~~~~~~~~~~~~~~~~~~~~~
Select which function is performed when CH9 is above 1800 pwm
+----------------------------------+
| Values |
+==================================+
| +-------+----------------------+ |
| | Value | Meaning | |
| +=======+======================+ |
| | 0 | Do Nothing | |
| +-------+----------------------+ |
| | 2 | Flip | |
| +-------+----------------------+ |
| | 3 | Simple Mode | |
| +-------+----------------------+ |
| | 4 | RTL | |
| +-------+----------------------+ |
| | 5 | Save Trim | |
| +-------+----------------------+ |
| | 7 | Save WP | |
| +-------+----------------------+ |
| | 9 | Camera Trigger | |
| +-------+----------------------+ |
| | 10 | RangeFinder | |
| +-------+----------------------+ |
| | 11 | Fence | |
| +-------+----------------------+ |
| | 13 | Super Simple Mode | |
| +-------+----------------------+ |
| | 14 | Acro Trainer | |
| +-------+----------------------+ |
| | 15 | Sprayer | |
| +-------+----------------------+ |
| | 16 | Auto | |
| +-------+----------------------+ |
| | 17 | AutoTune | |
| +-------+----------------------+ |
| | 18 | Land | |
| +-------+----------------------+ |
| | 19 | Gripper | |
| +-------+----------------------+ |
| | 21 | Parachute Enable | |
| +-------+----------------------+ |
| | 22 | Parachute Release | |
| +-------+----------------------+ |
| | 23 | Parachute 3pos | |
| +-------+----------------------+ |
| | 24 | Auto Mission Reset | |
| +-------+----------------------+ |
| | 25 | AttCon Feed Forward | |
| +-------+----------------------+ |
| | 26 | AttCon Accel Limits | |
| +-------+----------------------+ |
| | 27 | Retract Mount | |
| +-------+----------------------+ |
| | 28 | Relay On/Off | |
| +-------+----------------------+ |
| | 34 | Relay2 On/Off | |
| +-------+----------------------+ |
| | 35 | Relay3 On/Off | |
| +-------+----------------------+ |
| | 36 | Relay4 On/Off | |
| +-------+----------------------+ |
| | 29 | Landing Gear | |
| +-------+----------------------+ |
| | 30 | Lost Copter Sound | |
| +-------+----------------------+ |
| | 31 | Motor Emergency Stop | |
| +-------+----------------------+ |
| | 32 | Motor Interlock | |
| +-------+----------------------+ |
| | 33 | Brake | |
| +-------+----------------------+ |
| | 37 | Throw | |
| +-------+----------------------+ |
| | 38 | ADSB-Avoidance | |
| +-------+----------------------+ |
| | 39 | PrecLoiter | |
| +-------+----------------------+ |
| | 40 | Object Avoidance | |
| +-------+----------------------+ |
| | 41 | ArmDisarm | |
| +-------+----------------------+ |
| | 42 | SmartRTL | |
| +-------+----------------------+ |
| | 43 | Governor | |
| +-------+----------------------+ |
| | 44 | Winch Enable | |
| +-------+----------------------+ |
| | 45 | WinchControl | |
| +-------+----------------------+ |
| | 100 | KillIMU1 | |
| +-------+----------------------+ |
| | 101 | KillIMU2 | |
| +-------+----------------------+ |
| |
+----------------------------------+
.. _CH10_OPT:
CH10\_OPT: Channel 10 option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Select which function is performed when CH10 is above 1800 pwm
+----------------------------------+
| Values |
+==================================+
| +-------+----------------------+ |
| | Value | Meaning | |
| +=======+======================+ |
| | 0 | Do Nothing | |
| +-------+----------------------+ |
| | 2 | Flip | |
| +-------+----------------------+ |
| | 3 | Simple Mode | |
| +-------+----------------------+ |
| | 4 | RTL | |
| +-------+----------------------+ |
| | 5 | Save Trim | |
| +-------+----------------------+ |
| | 7 | Save WP | |
| +-------+----------------------+ |
| | 9 | Camera Trigger | |
| +-------+----------------------+ |
| | 10 | RangeFinder | |
| +-------+----------------------+ |
| | 11 | Fence | |
| +-------+----------------------+ |
| | 13 | Super Simple Mode | |
| +-------+----------------------+ |
| | 14 | Acro Trainer | |
| +-------+----------------------+ |
| | 15 | Sprayer | |
| +-------+----------------------+ |
| | 16 | Auto | |
| +-------+----------------------+ |
| | 17 | AutoTune | |
| +-------+----------------------+ |
| | 18 | Land | |
| +-------+----------------------+ |
| | 19 | Gripper | |
| +-------+----------------------+ |
| | 21 | Parachute Enable | |
| +-------+----------------------+ |
| | 22 | Parachute Release | |
| +-------+----------------------+ |
| | 23 | Parachute 3pos | |
| +-------+----------------------+ |
| | 24 | Auto Mission Reset | |
| +-------+----------------------+ |
| | 25 | AttCon Feed Forward | |
| +-------+----------------------+ |
| | 26 | AttCon Accel Limits | |
| +-------+----------------------+ |
| | 27 | Retract Mount | |
| +-------+----------------------+ |
| | 28 | Relay On/Off | |
| +-------+----------------------+ |
| | 34 | Relay2 On/Off | |
| +-------+----------------------+ |
| | 35 | Relay3 On/Off | |
| +-------+----------------------+ |
| | 36 | Relay4 On/Off | |
| +-------+----------------------+ |
| | 29 | Landing Gear | |
| +-------+----------------------+ |
| | 30 | Lost Copter Sound | |
| +-------+----------------------+ |
| | 31 | Motor Emergency Stop | |
| +-------+----------------------+ |
| | 32 | Motor Interlock | |
| +-------+----------------------+ |
| | 33 | Brake | |
| +-------+----------------------+ |
| | 37 | Throw | |
| +-------+----------------------+ |
| | 38 | ADSB-Avoidance | |
| +-------+----------------------+ |
| | 39 | PrecLoiter | |
| +-------+----------------------+ |
| | 40 | Object Avoidance | |
| +-------+----------------------+ |
| | 41 | ArmDisarm | |
| +-------+----------------------+ |
| | 42 | SmartRTL | |
| +-------+----------------------+ |
| | 43 | Governor | |
| +-------+----------------------+ |
| | 44 | Winch Enable | |
| +-------+----------------------+ |
| | 45 | WinchControl | |
| +-------+----------------------+ |
| | 100 | KillIMU1 | |
| +-------+----------------------+ |
| | 101 | KillIMU2 | |
| +-------+----------------------+ |
| |
+----------------------------------+
.. _CH11_OPT:
CH11\_OPT: Channel 11 option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Select which function is performed when CH11 is above 1800 pwm
+----------------------------------+
| Values |
+==================================+
| +-------+----------------------+ |
| | Value | Meaning | |
| +=======+======================+ |
| | 0 | Do Nothing | |
| +-------+----------------------+ |
| | 2 | Flip | |
| +-------+----------------------+ |
| | 3 | Simple Mode | |
| +-------+----------------------+ |
| | 4 | RTL | |
| +-------+----------------------+ |
| | 5 | Save Trim | |
| +-------+----------------------+ |
| | 7 | Save WP | |
| +-------+----------------------+ |
| | 9 | Camera Trigger | |
| +-------+----------------------+ |
| | 10 | RangeFinder | |
| +-------+----------------------+ |
| | 11 | Fence | |
| +-------+----------------------+ |
| | 13 | Super Simple Mode | |
| +-------+----------------------+ |
| | 14 | Acro Trainer | |
| +-------+----------------------+ |
| | 15 | Sprayer | |
| +-------+----------------------+ |
| | 16 | Auto | |
| +-------+----------------------+ |
| | 17 | AutoTune | |
| +-------+----------------------+ |
| | 18 | Land | |
| +-------+----------------------+ |
| | 19 | Gripper | |
| +-------+----------------------+ |
| | 21 | Parachute Enable | |
| +-------+----------------------+ |
| | 22 | Parachute Release | |
| +-------+----------------------+ |
| | 23 | Parachute 3pos | |
| +-------+----------------------+ |
| | 24 | Auto Mission Reset | |
| +-------+----------------------+ |
| | 25 | AttCon Feed Forward | |
| +-------+----------------------+ |
| | 26 | AttCon Accel Limits | |
| +-------+----------------------+ |
| | 27 | Retract Mount | |
| +-------+----------------------+ |
| | 28 | Relay On/Off | |
| +-------+----------------------+ |
| | 34 | Relay2 On/Off | |
| +-------+----------------------+ |
| | 35 | Relay3 On/Off | |
| +-------+----------------------+ |
| | 36 | Relay4 On/Off | |
| +-------+----------------------+ |
| | 29 | Landing Gear | |
| +-------+----------------------+ |
| | 30 | Lost Copter Sound | |
| +-------+----------------------+ |
| | 31 | Motor Emergency Stop | |
| +-------+----------------------+ |
| | 32 | Motor Interlock | |
| +-------+----------------------+ |
| | 33 | Brake | |
| +-------+----------------------+ |
| | 37 | Throw | |
| +-------+----------------------+ |
| | 38 | ADSB-Avoidance | |
| +-------+----------------------+ |
| | 39 | PrecLoiter | |
| +-------+----------------------+ |
| | 40 | Object Avoidance | |
| +-------+----------------------+ |
| | 41 | ArmDisarm | |
| +-------+----------------------+ |
| | 42 | SmartRTL | |
| +-------+----------------------+ |
| | 43 | Governor | |
| +-------+----------------------+ |
| | 44 | Winch Enable | |
| +-------+----------------------+ |
| | 45 | WinchControl | |
| +-------+----------------------+ |
| | 100 | KillIMU1 | |
| +-------+----------------------+ |
| | 101 | KillIMU2 | |
| +-------+----------------------+ |
| |
+----------------------------------+
.. _CH12_OPT:
CH12\_OPT: Channel 12 option
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Select which function is performed when CH12 is above 1800 pwm
+----------------------------------+
| Values |
+==================================+
| +-------+----------------------+ |
| | Value | Meaning | |
| +=======+======================+ |
| | 0 | Do Nothing | |
| +-------+----------------------+ |
| | 2 | Flip | |
| +-------+----------------------+ |
| | 3 | Simple Mode | |
| +-------+----------------------+ |
| | 4 | RTL | |
| +-------+----------------------+ |
| | 5 | Save Trim | |
| +-------+----------------------+ |
| | 7 | Save WP | |
| +-------+----------------------+ |
| | 9 | Camera Trigger | |
| +-------+----------------------+ |
| | 10 | RangeFinder | |
| +-------+----------------------+ |
| | 11 | Fence | |
| +-------+----------------------+ |
| | 13 | Super Simple Mode | |
| +-------+----------------------+ |
| | 14 | Acro Trainer | |
| +-------+----------------------+ |
| | 15 | Sprayer | |
| +-------+----------------------+ |
| | 16 | Auto | |
| +-------+----------------------+ |
| | 17 | AutoTune | |
| +-------+----------------------+ |
| | 18 | Land | |
| +-------+----------------------+ |
| | 19 | Gripper | |
| +-------+----------------------+ |
| | 21 | Parachute Enable | |
| +-------+----------------------+ |
| | 22 | Parachute Release | |
| +-------+----------------------+ |
| | 23 | Parachute 3pos | |
| +-------+----------------------+ |
| | 24 | Auto Mission Reset | |
| +-------+----------------------+ |
| | 25 | AttCon Feed Forward | |
| +-------+----------------------+ |
| | 26 | AttCon Accel Limits | |
| +-------+----------------------+ |
| | 27 | Retract Mount | |
| +-------+----------------------+ |
| | 28 | Relay On/Off | |
| +-------+----------------------+ |
| | 34 | Relay2 On/Off | |
| +-------+----------------------+ |
| | 35 | Relay3 On/Off | |
| +-------+----------------------+ |
| | 36 | Relay4 On/Off | |
| +-------+----------------------+ |
| | 29 | Landing Gear | |
| +-------+----------------------+ |
| | 30 | Lost Copter Sound | |
| +-------+----------------------+ |
| | 31 | Motor Emergency Stop | |
| +-------+----------------------+ |
| | 32 | Motor Interlock | |
| +-------+----------------------+ |
| | 33 | Brake | |
| +-------+----------------------+ |
| | 37 | Throw | |
| +-------+----------------------+ |
| | 38 | ADSB-Avoidance | |
| +-------+----------------------+ |
| | 39 | PrecLoiter | |
| +-------+----------------------+ |
| | 40 | Object Avoidance | |
| +-------+----------------------+ |
| | 41 | ArmDisarm | |
| +-------+----------------------+ |
| | 42 | SmartRTL | |
| +-------+----------------------+ |
| | 43 | Governor | |
| +-------+----------------------+ |
| | 44 | Winch Enable | |
| +-------+----------------------+ |
| | 45 | WinchControl | |
| +-------+----------------------+ |
| | 100 | KillIMU1 | |
| +-------+----------------------+ |
| | 101 | KillIMU2 | |
| +-------+----------------------+ |
| |
+----------------------------------+
.. _DISARM_DELAY:
DISARM\_DELAY: Disarm delay
~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Delay before automatic disarm in seconds\. A value of zero disables auto disarm\.
+---------+---------+
| Range | Units |
+=========+=========+
| 0 - 127 | seconds |
+---------+---------+
.. _ANGLE_MAX:
ANGLE\_MAX: Angle Max
~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum lean angle in all flight modes
+-------------+--------------+
| Range | Units |
+=============+==============+
| 1000 - 8000 | centidegrees |
+-------------+--------------+
.. _PHLD_BRAKE_RATE:
PHLD\_BRAKE\_RATE: PosHold braking rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
PosHold flight mode\'s rotation rate during braking in deg\/sec
+--------+--------------------+
| Range | Units |
+========+====================+
| 4 - 12 | degrees per second |
+--------+--------------------+
.. _PHLD_BRAKE_ANGLE:
PHLD\_BRAKE\_ANGLE: PosHold braking angle max
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
PosHold flight mode\'s max lean angle during braking in centi\-degrees
+-------------+--------------+
| Range | Units |
+=============+==============+
| 2000 - 4500 | centidegrees |
+-------------+--------------+
.. _LAND_REPOSITION:
LAND\_REPOSITION: Land repositioning
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enables user input during LAND mode\, the landing phase of RTL\, and auto mode landings\.
+------------------------------+
| Values |
+==============================+
| +-------+------------------+ |
| | Value | Meaning | |
| +=======+==================+ |
| | 0 | No repositioning | |
| +-------+------------------+ |
| | 1 | Repositioning | |
| +-------+------------------+ |
| |
+------------------------------+
.. _FS_EKF_ACTION:
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 | |
| +=======+========================+ |
| | 1 | Land | |
| +-------+------------------------+ |
| | 2 | AltHold | |
| +-------+------------------------+ |
| | 3 | Land even in Stabilize | |
| +-------+------------------------+ |
| |
+------------------------------------+
.. _FS_EKF_THRESH:
FS\_EKF\_THRESH: EKF failsafe variance threshold
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Allows setting the maximum acceptable compass and velocity variance
+--------------------------------------+
| Values |
+======================================+
| 0.6:Strict, 0.8:Default, 1.0:Relaxed |
+--------------------------------------+
.. _FS_CRASH_CHECK:
FS\_CRASH\_CHECK: Crash check enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This enables automatic crash checking\. When enabled the motors will disarm if a crash is detected\.
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _RC_SPEED:
RC\_SPEED: ESC Update Speed
~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This is the speed in Hertz that your ESCs will receive updates
+----------+-----------+-------+
| Range | Increment | Units |
+==========+===========+=======+
| 50 - 490 | 1 | hertz |
+----------+-----------+-------+
.. _ACRO_RP_P:
ACRO\_RP\_P: Acro Roll and Pitch P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode\. Higher values mean faster rate of rotation\.
+--------+
| Range |
+========+
| 1 - 10 |
+--------+
.. _ACRO_YAW_P:
ACRO\_YAW\_P: Acro Yaw P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Converts pilot yaw input into a desired rate of rotation\. Higher values mean faster rate of rotation\.
+--------+
| Range |
+========+
| 1 - 10 |
+--------+
.. _ACRO_BAL_ROLL:
ACRO\_BAL\_ROLL: Acro Balance Roll
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
rate at which roll angle returns to level in acro and sport mode\. A higher value causes the vehicle to return to level faster\.
+-------+-----------+
| Range | Increment |
+=======+===========+
| 0 - 3 | 0.1 |
+-------+-----------+
.. _ACRO_BAL_PITCH:
ACRO\_BAL\_PITCH: Acro Balance Pitch
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
rate at which pitch angle returns to level in acro and sport mode\. A higher value causes the vehicle to return to level faster\.
+-------+-----------+
| Range | Increment |
+=======+===========+
| 0 - 3 | 0.1 |
+-------+-----------+
.. _ACRO_TRAINER:
ACRO\_TRAINER: Acro Trainer
~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Type of trainer used in acro mode
+----------------------------------+
| Values |
+==================================+
| +-------+----------------------+ |
| | Value | Meaning | |
| +=======+======================+ |
| | 0 | Disabled | |
| +-------+----------------------+ |
| | 1 | Leveling | |
| +-------+----------------------+ |
| | 2 | Leveling and Limited | |
| +-------+----------------------+ |
| |
+----------------------------------+
.. _ACRO_RP_EXPO:
ACRO\_RP\_EXPO: Acro Roll\/Pitch Expo
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Acro roll\/pitch Expo to allow faster rotation when stick at edges
+------------+-----------------------+
| Range | Values |
+============+=======================+
| -0.5 - 1.0 | +-------+-----------+ |
| | | Value | Meaning | |
| | +=======+===========+ |
| | | 0 | Disabled | |
| | +-------+-----------+ |
| | | 0.1 | Very Low | |
| | +-------+-----------+ |
| | | 0.2 | Low | |
| | +-------+-----------+ |
| | | 0.3 | Medium | |
| | +-------+-----------+ |
| | | 0.4 | High | |
| | +-------+-----------+ |
| | | 0.5 | Very High | |
| | +-------+-----------+ |
| | |
+------------+-----------------------+
.. _AUTOTUNE_AXES:
AUTOTUNE\_AXES: Autotune axis bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1\-byte bitmap of axes to autotune
+-------------------+----------------------------+
| Bitmask | Values |
+===================+============================+
| +-----+---------+ | +-------+----------------+ |
| | Bit | Meaning | | | Value | Meaning | |
| +=====+=========+ | +=======+================+ |
| | 0 | Roll | | | 7 | All | |
| +-----+---------+ | +-------+----------------+ |
| | 1 | Pitch | | | 1 | Roll Only | |
| +-----+---------+ | +-------+----------------+ |
| | 2 | Yaw | | | 2 | Pitch Only | |
| +-----+---------+ | +-------+----------------+ |
| | | 4 | Yaw Only | |
| | +-------+----------------+ |
| | | 3 | Roll and Pitch | |
| | +-------+----------------+ |
| | | 5 | Roll and Yaw | |
| | +-------+----------------+ |
| | | 6 | Pitch and Yaw | |
| | +-------+----------------+ |
| | |
+-------------------+----------------------------+
.. _AUTOTUNE_AGGR:
AUTOTUNE\_AGGR: Autotune aggressiveness
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Autotune aggressiveness\. Defines the bounce back used to detect size of the D term\.
+-------------+
| Range |
+=============+
| 0.05 - 0.10 |
+-------------+
.. _AUTOTUNE_MIN_D:
AUTOTUNE\_MIN\_D: AutoTune minimum D
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Defines the minimum D gain
+---------------+
| Range |
+===============+
| 0.001 - 0.006 |
+---------------+
.. _THROW_MOT_START:
THROW\_MOT\_START: Start motors before throwing is detected
Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw.
+---------------------+ | Values | +=====================+ | +-------+---------+ | | | Value | Meaning | | | +=======+=========+ | | | 0 | Stopped | | | +-------+---------+ | | | 1 | Running | | | +-------+---------+ | | | +---------------------+
.. _TERRAIN_FOLLOW:
TERRAIN_FOLLOW: Terrain Following use control
This enables terrain following for RTL and LAND flight modes\. To use this option TERRAIN\_ENABLE must be 1 and the GCS must support sending terrain data to the aircraft\. In RTL the RTL\_ALT will be considered a height above the terrain\. In LAND mode the vehicle will slow to LAND\_SPEED 10m above terrain \(instead of 10m above home\)\. This parameter does not affect AUTO and Guided which use a per\-command flag to determine if the height is above\-home\, absolute or above\-terrain\.
+----------------------------------------+
| Values |
+========================================+
| +-------+----------------------------+ |
| | Value | Meaning | |
| +=======+============================+ |
| | 0 | Do Not Use in RTL and Land | |
| +-------+----------------------------+ |
| | 1 | Use in RTL and Land | |
| +-------+----------------------------+ |
| |
+----------------------------------------+
.. _WP_NAVALT_MIN:
WP\_NAVALT\_MIN: Minimum navigation altitude
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This is the altitude in meters above which for navigation can begin\. This applies in auto takeoff and auto landing\.
+-------+
| Range |
+=======+
| 0 - 5 |
+-------+
.. _THROW_NEXTMODE:
THROW\_NEXTMODE: Throw mode\'s follow up mode
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vehicle will switch to this mode after the throw is successfully completed\. Default is to stay in throw mode \(18\)
+---------------------+
| Values |
+=====================+
| +-------+---------+ |
| | Value | Meaning | |
| +=======+=========+ |
| | 3 | Auto | |
| +-------+---------+ |
| | 4 | Guided | |
| +-------+---------+ |
| | 5 | LOITER | |
| +-------+---------+ |
| | 6 | RTL | |
| +-------+---------+ |
| | 9 | Land | |
| +-------+---------+ |
| | 17 | Brake | |
| +-------+---------+ |
| | 18 | Throw | |
| +-------+---------+ |
| |
+---------------------+
.. _THROW_TYPE:
THROW\_TYPE: Type of Type
~~~~~~~~~~~~~~~~~~~~~~~~~
Used by THROW mode\. Specifies whether Copter is thrown upward or dropped\.
+--------------------------+
| Values |
+==========================+
| +-------+--------------+ |
| | Value | Meaning | |
| +=======+==============+ |
| | 0 | Upward Throw | |
| +-------+--------------+ |
| | 1 | Drop | |
| +-------+--------------+ |
| |
+--------------------------+
.. _GND_EFFECT_COMP:
GND\_EFFECT\_COMP: Ground Effect Compensation Enable\/Disable
| Note: This parameter is for advanced users
Ground Effect Compensation Enable/Disable
+----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | Disabled | | | +-------+----------+ | | | 1 | Enabled | | | +-------+----------+ | | | +----------------------+
.. _DEV_OPTIONS:
DEV_OPTIONS: Development options
| *Note: This parameter is for advanced users*
Bitmask of developer options\. The meanings of the bit fields in this parameter may vary at any time\. Developers should check the source code for current meaning
+---------------------------------------+
| Bitmask |
+=======================================+
| +-----+-----------------------------+ |
| | Bit | Meaning | |
| +=====+=============================+ |
| | 0 | ADSBMavlinkProcessing | |
| +-----+-----------------------------+ |
| | 1 | DevOptionVFR_HUDRelativeAlt | |
| +-----+-----------------------------+ |
| |
+---------------------------------------+
.. _ACRO_Y_EXPO:
ACRO\_Y\_EXPO: Acro Yaw Expo
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Acro yaw expo to allow faster rotation when stick at edges
+------------+-----------------------+
| Range | Values |
+============+=======================+
| -0.5 - 1.0 | +-------+-----------+ |
| | | Value | Meaning | |
| | +=======+===========+ |
| | | 0 | Disabled | |
| | +-------+-----------+ |
| | | 0.1 | Very Low | |
| | +-------+-----------+ |
| | | 0.2 | Low | |
| | +-------+-----------+ |
| | | 0.3 | Medium | |
| | +-------+-----------+ |
| | | 0.4 | High | |
| | +-------+-----------+ |
| | | 0.5 | Very High | |
| | +-------+-----------+ |
| | |
+------------+-----------------------+
.. _ACRO_THR_MID:
ACRO\_THR\_MID: Acro Thr Mid
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Acro Throttle Mid
+-------+
| Range |
+=======+
| 0 - 1 |
+-------+
.. _SYSID_ENFORCE:
SYSID\_ENFORCE: GCS sysid enforcement
| Note: This parameter is for advanced users
This controls whether packets from other than the expected GCS system ID will be accepted
+-------------------------+ | Values | +=========================+ | +-------+-------------+ | | | Value | Meaning | | | +=======+=============+ | | | 0 | NotEnforced | | | +-------+-------------+ | | | 1 | Enforced | | | +-------+-------------+ | | | +-------------------------+
.. _FRAME_CLASS:
FRAME_CLASS: Frame Class
Controls major frame class for multicopter component
+--------------------------+----------------+
| Values | RebootRequired |
+==========================+================+
| +-------+--------------+ | True |
| | Value | Meaning | | |
| +=======+==============+ | |
| | 0 | Undefined | | |
| +-------+--------------+ | |
| | 1 | Quad | | |
| +-------+--------------+ | |
| | 2 | Hexa | | |
| +-------+--------------+ | |
| | 3 | Octa | | |
| +-------+--------------+ | |
| | 4 | OctaQuad | | |
| +-------+--------------+ | |
| | 5 | Y6 | | |
| +-------+--------------+ | |
| | 6 | Heli | | |
| +-------+--------------+ | |
| | 7 | Tri | | |
| +-------+--------------+ | |
| | 8 | SingleCopter | | |
| +-------+--------------+ | |
| | 9 | CoaxCopter | | |
| +-------+--------------+ | |
| | 12 | DodecaHexa | | |
| +-------+--------------+ | |
| | 13 | HeliQuad | | |
| +-------+--------------+ | |
| | |
+--------------------------+----------------+
.. _PILOT_SPEED_DN:
PILOT\_SPEED\_DN: Pilot maximum vertical speed descending
The maximum vertical descending velocity the pilot may request in cm/s
+----------+-----------+------------------------+ | Range | Increment | Units | +==========+===========+========================+ | 50 - 500 | 10 | centimeters per second | +----------+-----------+------------------------+
.. _LAND_ALT_LOW:
LAND_ALT_LOW: Land alt low
| *Note: This parameter is for advanced users*
Altitude during Landing at which vehicle slows to LAND\_SPEED
+-------------+-----------+-------------+
| Range | Increment | Units |
+=============+===========+=============+
| 100 - 10000 | 10 | centimeters |
+-------------+-----------+-------------+
.. _parameters_ADSB_:
ADSB\_ Parameters
-----------------
.. _ADSB_ENABLE:
ADSB\_ENABLE: Enable ADSB
~~~~~~~~~~~~~~~~~~~~~~~~~
Enable ADS\-B
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _ADSB_LIST_MAX:
ADSB\_LIST\_MAX: ADSB vehicle list size
| Note: This parameter is for advanced users
ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.
+---------+ | Range | +=========+ | 1 - 100 | +---------+
.. _ADSB_LIST_RADIUS:
ADSB_LIST_RADIUS: ADSB vehicle list radius filter
| *Note: This parameter is for advanced users*
ADSB vehicle list radius filter\. Vehicles detected outside this radius will be completely ignored\. They will not show up in the SRx\_ADSB stream to the GCS and will not be considered in any avoidance calculations\.
+------------+
| Range |
+============+
| 1 - 100000 |
+------------+
.. _ADSB_ICAO_ID:
ADSB\_ICAO\_ID: ICAO\_ID vehicle identification number
| Note: This parameter is for advanced users
ICAO_ID unique vehicle identification number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.
+---------------+ | Range | +===============+ | -1 - 16777215 | +---------------+
.. _ADSB_EMIT_TYPE:
ADSB_EMIT_TYPE: Emitter type
| *Note: This parameter is for advanced users*
ADSB classification for the type of vehicle emitting the transponder signal\. Default value is 14 \(UAV\)\.
+------------------------------+
| Values |
+==============================+
| +-------+------------------+ |
| | Value | Meaning | |
| +=======+==================+ |
| | 0 | NoInfo | |
| +-------+------------------+ |
| | 1 | Light | |
| +-------+------------------+ |
| | 2 | Small | |
| +-------+------------------+ |
| | 3 | Large | |
| +-------+------------------+ |
| | 4 | HighVortexlarge | |
| +-------+------------------+ |
| | 5 | Heavy | |
| +-------+------------------+ |
| | 6 | HighlyManuv | |
| +-------+------------------+ |
| | 7 | Rotocraft | |
| +-------+------------------+ |
| | 8 | RESERVED | |
| +-------+------------------+ |
| | 9 | Glider | |
| +-------+------------------+ |
| | 10 | LightAir | |
| +-------+------------------+ |
| | 11 | Parachute | |
| +-------+------------------+ |
| | 12 | UltraLight | |
| +-------+------------------+ |
| | 13 | RESERVED | |
| +-------+------------------+ |
| | 14 | UAV | |
| +-------+------------------+ |
| | 15 | Space | |
| +-------+------------------+ |
| | 16 | RESERVED | |
| +-------+------------------+ |
| | 17 | EmergencySurface | |
| +-------+------------------+ |
| | 18 | ServiceSurface | |
| +-------+------------------+ |
| | 19 | PointObstacle | |
| +-------+------------------+ |
| |
+------------------------------+
.. _ADSB_LEN_WIDTH:
ADSB\_LEN\_WIDTH: Aircraft length and width
| Note: This parameter is for advanced users
Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.
+----------------------+ | Values | +======================+ | +-------+----------+ | | | Value | Meaning | | | +=======+==========+ | | | 0 | NO_DATA | | | +-------+----------+ | | | 1 | L15W23 | | | +-------+----------+ | | | 2 | L25W28P5 | | | +-------+----------+ | | | 3 | L25W34 | | | +-------+----------+ | | | 4 | L35W33 | | | +-------+----------+ | | | 5 | L35W38 | | | +-------+----------+ | | | 6 | L45W39P5 | | | +-------+----------+ | | | 7 | L45W45 | | | +-------+----------+ | | | 8 | L55W45 | | | +-------+----------+ | | | 9 | L55W52 | | | +-------+----------+ | | | 10 | L65W59P5 | | | +-------+----------+ | | | 11 | L65W67 | | | +-------+----------+ | | | 12 | L75W72P5 | | | +-------+----------+ | | | 13 | L75W80 | | | +-------+----------+ | | | 14 | L85W80 | | | +-------+----------+ | | | 15 | L85W90 | | | +-------+----------+ | | | +----------------------+
.. _ADSB_OFFSET_LAT:
ADSB_OFFSET_LAT: GPS antenna lateral offset
| *Note: This parameter is for advanced users*
GPS antenna lateral offset\. This describes the physical location offest from center of the GPS antenna on the aircraft\.
+---------------------+
| Values |
+=====================+
| +-------+---------+ |
| | Value | Meaning | |
| +=======+=========+ |
| | 0 | NoData | |
| +-------+---------+ |
| | 1 | Left2m | |
| +-------+---------+ |
| | 2 | Left4m | |
| +-------+---------+ |
| | 3 | Left6m | |
| +-------+---------+ |
| | 4 | Center | |
| +-------+---------+ |
| | 5 | Right2m | |
| +-------+---------+ |
| | 6 | Right4m | |
| +-------+---------+ |
| | 7 | Right6m | |
| +-------+---------+ |
| |
+---------------------+
.. _ADSB_OFFSET_LON:
ADSB\_OFFSET\_LON: GPS antenna longitudinal offset
| Note: This parameter is for advanced users
GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor
+-----------------------------+ | Values | +=============================+ | +-------+-----------------+ | | | Value | Meaning | | | +=======+=================+ | | | 0 | NO_DATA | | | +-------+-----------------+ | | | 1 | AppliedBySensor | | | +-------+-----------------+ | | | +-----------------------------+
.. _ADSB_RF_SELECT:
ADSB_RF_SELECT: Transceiver RF selection
| *Note: This parameter is for advanced users*
Transceiver RF selection for Rx enable and\/or Tx enable\. This only effects devices that can Tx and Rx\. Rx\-only devices override this to always be Rx\-only\.
+-------------------------------+
| Values |
+===============================+
| +-------+-------------------+ |
| | Value | Meaning | |
| +=======+===================+ |
| | 0 | Disabled | |
| +-------+-------------------+ |
| | 1 | Rx-Only | |
| +-------+-------------------+ |
| | 2 | Tx-Only | |
| +-------+-------------------+ |
| | 3 | Rx and Tx Enabled | |
| +-------+-------------------+ |
| |
+-------------------------------+
.. _ADSB_SQUAWK:
ADSB\_SQUAWK: Squawk code
~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
VFR squawk \(Mode 3\/A\) code is a pre\-programmed default code when the pilot is flying VFR and not in contact with ATC\. In the USA\, the VFR squawk code is octal 1200 \(hex 0x280\, decimal 640\) and in most parts of Europe the VFR squawk code is octal 7000\. If an invalid octal number is set then it will be reset to 1200\.
+-------+
| Units |
+=======+
| octal |
+-------+
.. _ADSB_RF_CAPABLE:
ADSB\_RF\_CAPABLE: RF capabilities
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Describes your hardware RF In\/Out capabilities\.
+----------------------+----------------------------------+
| Bitmask | Values |
+======================+==================================+
| +-----+------------+ | +-------+----------------------+ |
| | Bit | Meaning | | | Value | Meaning | |
| +=====+============+ | +=======+======================+ |
| | 0 | UAT_in | | | 0 | Unknown | |
| +-----+------------+ | +-------+----------------------+ |
| | 1 | 1090ES_in | | | 1 | Rx UAT only | |
| +-----+------------+ | +-------+----------------------+ |
| | 2 | UAT_out | | | 3 | Rx UAT and 1090ES | |
| +-----+------------+ | +-------+----------------------+ |
| | 3 | 1090ES_out | | | 7 | Rx&Tx UAT and 1090ES | |
| +-----+------------+ | +-------+----------------------+ |
| | |
+----------------------+----------------------------------+
.. _parameters_AFS_:
AFS\_ Parameters
----------------
.. _AFS_ENABLE:
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:
AFS\_MAN\_PIN: Manual Pin
~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets a digital output pin to set high when in manual mode
.. _AFS_HB_PIN:
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\.
.. _AFS_WP_COMMS:
AFS\_WP\_COMMS: Comms Waypoint
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Waypoint number to navigate to on comms loss
.. _AFS_GPS_LOSS:
AFS\_GPS\_LOSS: GPS Loss Waypoint
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Waypoint number to navigate to on GPS lock loss
.. _AFS_TERMINATE:
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:
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 APM to handle it here\. Please consult the wiki for more information on the possible values of the parameter
.. _AFS_TERM_PIN:
AFS\_TERM\_PIN: Terminate Pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets a digital output pin to set high on flight termination
.. _AFS_AMSL_LIMIT:
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:
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:
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 |
+==========+
| millibar |
+----------+
.. _AFS_MAX_GPS_LOSS:
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:
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:
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:
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:
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:
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:
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 |
+---------+
.. _parameters_AHRS_:
AHRS\_ Parameters
-----------------
.. _AHRS_GPS_GAIN:
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\.
+-----------+-----------+
| Range | Increment |
+===========+===========+
| 0.0 - 1.0 | .01 |
+-----------+-----------+
.. _AHRS_GPS_USE:
AHRS\_GPS\_USE: AHRS use GPS for navigation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *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 whenever it is available\.
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _AHRS_YAW_P:
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\.
+-----------+-----------+
| Range | Increment |
+===========+===========+
| 0.1 - 0.4 | .01 |
+-----------+-----------+
.. _AHRS_RP_P:
AHRS\_RP\_P: AHRS RP\_P
~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This controls how fast the accelerometers correct the attitude
+-----------+-----------+
| Range | Increment |
+===========+===========+
| 0.1 - 0.4 | .01 |
+-----------+-----------+
.. _AHRS_WIND_MAX:
AHRS\_WIND\_MAX: Maximum wind
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets the maximum allowable difference between ground speed and airspeed\. This allows the plane to cope with a failing airspeed sensor\. A value of zero means to use the airspeed as is\.
+---------+-----------+-------------------+
| Range | Increment | Units |
+=========+===========+===================+
| 0 - 127 | 1 | meters per second |
+---------+-----------+-------------------+
.. _AHRS_TRIM_X:
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\.
+-------------------+-----------+---------+
| Range | Increment | Units |
+===================+===========+=========+
| -0.1745 - +0.1745 | 0.01 | radians |
+-------------------+-----------+---------+
.. _AHRS_TRIM_Y:
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\.
+-------------------+-----------+---------+
| Range | Increment | Units |
+===================+===========+=========+
| -0.1745 - +0.1745 | 0.01 | radians |
+-------------------+-----------+---------+
.. _AHRS_TRIM_Z:
AHRS\_TRIM\_Z: AHRS Trim Yaw
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Not Used
+-------------------+-----------+---------+
| Range | Increment | Units |
+===================+===========+=========+
| -0.1745 - +0.1745 | 0.01 | radians |
+-------------------+-----------+---------+
.. _AHRS_ORIENTATION:
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\. This option takes affect on next boot\. After changing you will need to re\-level your vehicle\.
+----------------------------------+
| Values |
+==================================+
| +-------+----------------------+ |
| | Value | Meaning | |
| +=======+======================+ |
| | 0 | None | |
| +-------+----------------------+ |
| | 1 | Yaw45 | |
| +-------+----------------------+ |
| | 2 | Yaw90 | |
| +-------+----------------------+ |
| | 3 | Yaw135 | |
| +-------+----------------------+ |
| | 4 | Yaw180 | |
| +-------+----------------------+ |
| | 5 | Yaw225 | |
| +-------+----------------------+ |
| | 6 | Yaw270 | |
| +-------+----------------------+ |
| | 7 | Yaw315 | |
| +-------+----------------------+ |
| | 8 | Roll180 | |
| +-------+----------------------+ |
| | 9 | Roll180Yaw45 | |
| +-------+----------------------+ |
| | 10 | Roll180Yaw90 | |
| +-------+----------------------+ |
| | 11 | Roll180Yaw135 | |
| +-------+----------------------+ |
| | 12 | Pitch180 | |
| +-------+----------------------+ |
| | 13 | Roll180Yaw225 | |
| +-------+----------------------+ |
| | 14 | Roll180Yaw270 | |
| +-------+----------------------+ |
| | 15 | Roll180Yaw315 | |
| +-------+----------------------+ |
| | 16 | Roll90 | |
| +-------+----------------------+ |
| | 17 | Roll90Yaw45 | |
| +-------+----------------------+ |
| | 18 | Roll90Yaw90 | |
| +-------+----------------------+ |
| | 19 | Roll90Yaw135 | |
| +-------+----------------------+ |
| | 20 | Roll270 | |
| +-------+----------------------+ |
| | 21 | Roll270Yaw45 | |
| +-------+----------------------+ |
| | 22 | Roll270Yaw90 | |
| +-------+----------------------+ |
| | 23 | Roll270Yaw135 | |
| +-------+----------------------+ |
| | 24 | Pitch90 | |
| +-------+----------------------+ |
| | 25 | Pitch270 | |
| +-------+----------------------+ |
| | 26 | Pitch180Yaw90 | |
| +-------+----------------------+ |
| | 27 | Pitch180Yaw270 | |
| +-------+----------------------+ |
| | 28 | Roll90Pitch90 | |
| +-------+----------------------+ |
| | 29 | Roll180Pitch90 | |
| +-------+----------------------+ |
| | 30 | Roll270Pitch90 | |
| +-------+----------------------+ |
| | 31 | Roll90Pitch180 | |
| +-------+----------------------+ |
| | 32 | Roll270Pitch180 | |
| +-------+----------------------+ |
| | 33 | Roll90Pitch270 | |
| +-------+----------------------+ |
| | 34 | Roll180Pitch270 | |
| +-------+----------------------+ |
| | 35 | Roll270Pitch270 | |
| +-------+----------------------+ |
| | 36 | Roll90Pitch180Yaw90 | |
| +-------+----------------------+ |
| | 37 | Roll90Yaw270 | |
| +-------+----------------------+ |
| | 38 | Yaw293Pitch68Roll180 | |
| +-------+----------------------+ |
| | 39 | Pitch315 | |
| +-------+----------------------+ |
| | 40 | Roll90Pitch315 | |
| +-------+----------------------+ |
| | 100 | Custom | |
| +-------+----------------------+ |
| |
+----------------------------------+
.. _AHRS_COMP_BETA:
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\.
+-------------+-----------+
| Range | Increment |
+=============+===========+
| 0.001 - 0.5 | .01 |
+-------------+-----------+
.. _AHRS_GPS_MINSATS:
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\.
+--------+-----------+
| Range | Increment |
+========+===========+
| 0 - 10 | 1 |
+--------+-----------+
.. _AHRS_EKF_TYPE:
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 | |
| +-------+-------------+ |
| |
+-------------------------+
.. _AHRS_CUSTOM_ROLL:
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\.
+------------+-----------+---------+
| Range | Increment | Units |
+============+===========+=========+
| -180 - 180 | 1 | degrees |
+------------+-----------+---------+
.. _AHRS_CUSTOM_PIT:
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\.
+------------+-----------+---------+
| Range | Increment | Units |
+============+===========+=========+
| -180 - 180 | 1 | degrees |
+------------+-----------+---------+
.. _AHRS_CUSTOM_YAW:
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\.
+------------+-----------+---------+
| Range | Increment | Units |
+============+===========+=========+
| -180 - 180 | 1 | degrees |
+------------+-----------+---------+
.. _parameters_ARMING_:
ARMING\_ Parameters
-------------------
.. _ARMING_REQUIRE:
ARMING\_REQUIRE: Require Arming Motors
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Arming disabled until some requirements are met\. If 0\, there are no requirements \(arm immediately\)\. If 1\, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed\. If 2\, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed\. See the ARMING\_CHECK\_\* parameters to see what checks are done before arming\. Note\, if setting this parameter to 0 a reboot is required to arm the plane\. Also note\, even with this parameter at 0\, if ARMING\_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre\-arm check failure\.
+---------------------------------------+
| Values |
+=======================================+
| +-------+---------------------------+ |
| | Value | Meaning | |
| +=======+===========================+ |
| | 0 | Disabled | |
| +-------+---------------------------+ |
| | 1 | THR_MIN PWM when disarmed | |
| +-------+---------------------------+ |
| | 2 | 0 PWM when disarmed | |
| +-------+---------------------------+ |
| |
+---------------------------------------+
.. _ARMING_CHECK:
ARMING\_CHECK: Arm Checks to Peform \(bitmask\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Checks prior to arming motor\. This is a bitmask of checks that will be performed before allowing arming\. The default is no checks\, allowing arming at any time\. 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\. For most users it is recommended that you set this to 1 to enable all checks\.
+----------------------------------+----------------------------------------------------+
| Bitmask | Values |
+==================================+====================================================+
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | Bit | Meaning | | | Value | Meaning | |
| +=====+========================+ | +=======+========================================+ |
| | 0 | All | | | 0 | None | |
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | 1 | Barometer | | | 1 | All | |
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | 2 | Compass | | | 2 | Barometer | |
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | 3 | GPS lock | | | 4 | Compass | |
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | 4 | INS | | | 8 | GPS Lock | |
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | 5 | Parameters | | | 16 | INS(INertial Sensors - accels & gyros) | |
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | 6 | RC Channels | | | 32 | Parameters(unused) | |
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | 7 | Board voltage | | | 64 | RC Channels | |
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | 8 | Battery Level | | | 128 | Board voltage | |
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | 10 | Logging Available | | | 256 | Battery Level | |
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | 11 | Hardware safety switch | | | 1024 | LoggingAvailable | |
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | 12 | GPS Configuration | | | 2048 | Hardware safety switch | |
| +-----+------------------------+ | +-------+----------------------------------------+ |
| | | 4096 | GPS configuration | |
| | +-------+----------------------------------------+ |
| | |
+----------------------------------+----------------------------------------------------+
.. _ARMING_ACCTHRESH:
ARMING\_ACCTHRESH: Accelerometer error threshold
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Accelerometer error threshold used to determine inconsistent accelerometers\. Compares this error range to other accelerometers to detect a hardware or calibration error\. Lower value means tighter check and harder to pass arming check\. Not all accelerometers are created equal\.
+------------+--------------------------+
| Range | Units |
+============+==========================+
| 0.25 - 3.0 | meters per square second |
+------------+--------------------------+
.. _ARMING_VOLT_MIN:
ARMING\_VOLT\_MIN: Arming voltage minimum on the first battery
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The minimum voltage of the first battery required to arm\, 0 disables the check
+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1 | volt |
+-----------+-------+
.. _ARMING_VOLT2_MIN:
ARMING\_VOLT2\_MIN: Arming voltage minimum on the second battery
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The minimum voltage of the second battery required to arm\, 0 disables the check
+-----------+-------+
| Increment | Units |
+===========+=======+
| 0.1 | volt |
+-----------+-------+
.. _ARMING_RUDDER:
ARMING\_RUDDER: Arming with Rudder enable\/disable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Allow arm\/disarm by rudder input\. When enabled arming can be done with right rudder\, disarming with left rudder\. Rudder arming only works in manual throttle modes with throttle at zero \+\- deadzone \(RCx\_DZ\)
+-------------------------+
| Values |
+=========================+
| +-------+-------------+ |
| | Value | Meaning | |
| +=======+=============+ |
| | 0 | Disabled | |
| +-------+-------------+ |
| | 1 | ArmingOnly | |
| +-------+-------------+ |
| | 2 | ArmOrDisarm | |
| +-------+-------------+ |
| |
+-------------------------+
.. _parameters_ATC_:
ATC\_ Parameters
----------------
.. _ATC_SLEW_YAW:
ATC\_SLEW\_YAW: Yaw target slew rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum rate the yaw target can be updated in Loiter\, RTL\, Auto flight modes
+-------------+-----------+-------------------------+
| Range | Increment | Units |
+=============+===========+=========================+
| 500 - 18000 | 100 | centidegrees per second |
+-------------+-----------+-------------------------+
.. _ATC_ACCEL_Y_MAX:
ATC\_ACCEL\_Y\_MAX: Acceleration Max for Yaw
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum acceleration in yaw axis
+-----------+----------------------+-----------+--------------------------------+
| Range | Values | Increment | Units |
+===========+======================+===========+================================+
| 0 - 72000 | +-------+----------+ | 1000 | centidegrees per square second |
| | | Value | Meaning | | | |
| | +=======+==========+ | | |
| | | 0 | Disabled | | | |
| | +-------+----------+ | | |
| | | 9000 | VerySlow | | | |
| | +-------+----------+ | | |
| | | 18000 | Slow | | | |
| | +-------+----------+ | | |
| | | 36000 | Medium | | | |
| | +-------+----------+ | | |
| | | 54000 | Fast | | | |
| | +-------+----------+ | | |
| | | | |
+-----------+----------------------+-----------+--------------------------------+
.. _ATC_RATE_FF_ENAB:
ATC\_RATE\_FF\_ENAB: Rate Feedforward Enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Controls whether body\-frame rate feedfoward is enabled or disabled
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _ATC_ACCEL_R_MAX:
ATC\_ACCEL\_R\_MAX: Acceleration Max for Roll
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum acceleration in roll axis
+------------+-----------------------+-----------+--------------------------------+
| Range | Values | Increment | Units |
+============+=======================+===========+================================+
| 0 - 180000 | +--------+----------+ | 1000 | centidegrees per square second |
| | | Value | Meaning | | | |
| | +========+==========+ | | |
| | | 0 | Disabled | | | |
| | +--------+----------+ | | |
| | | 30000 | VerySlow | | | |
| | +--------+----------+ | | |
| | | 72000 | Slow | | | |
| | +--------+----------+ | | |
| | | 108000 | Medium | | | |
| | +--------+----------+ | | |
| | | 162000 | Fast | | | |
| | +--------+----------+ | | |
| | | | |
+------------+-----------------------+-----------+--------------------------------+
.. _ATC_ACCEL_P_MAX:
ATC\_ACCEL\_P\_MAX: Acceleration Max for Pitch
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum acceleration in pitch axis
+------------+-----------------------+-----------+--------------------------------+
| Range | Values | Increment | Units |
+============+=======================+===========+================================+
| 0 - 180000 | +--------+----------+ | 1000 | centidegrees per square second |
| | | Value | Meaning | | | |
| | +========+==========+ | | |
| | | 0 | Disabled | | | |
| | +--------+----------+ | | |
| | | 30000 | VerySlow | | | |
| | +--------+----------+ | | |
| | | 72000 | Slow | | | |
| | +--------+----------+ | | |
| | | 108000 | Medium | | | |
| | +--------+----------+ | | |
| | | 162000 | Fast | | | |
| | +--------+----------+ | | |
| | | | |
+------------+-----------------------+-----------+--------------------------------+
.. _ATC_ANGLE_BOOST:
ATC\_ANGLE\_BOOST: Angle Boost
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _ATC_ANG_RLL_P:
ATC\_ANG\_RLL\_P: Roll axis angle controller P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis angle controller P gain\. Converts the error between the desired roll angle and actual angle to a desired roll rate
+----------------+
| Range |
+================+
| 3.000 - 12.000 |
+----------------+
.. _ATC_ANG_PIT_P:
ATC\_ANG\_PIT\_P: Pitch axis angle controller P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis angle controller P gain\. Converts the error between the desired pitch angle and actual angle to a desired pitch rate
+----------------+
| Range |
+================+
| 3.000 - 12.000 |
+----------------+
.. _ATC_ANG_YAW_P:
ATC\_ANG\_YAW\_P: Yaw axis angle controller P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis angle controller P gain\. Converts the error between the desired yaw angle and actual angle to a desired yaw rate
+---------------+
| Range |
+===============+
| 3.000 - 6.000 |
+---------------+
.. _ATC_ANG_LIM_TC:
ATC\_ANG\_LIM\_TC: Angle Limit \(to maintain altitude\) Time Constant
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Angle Limit \(to maintain altitude\) Time Constant
+------------+
| Range |
+============+
| 0.5 - 10.0 |
+------------+
.. _ATC_RATE_R_MAX:
ATC\_RATE\_R\_MAX: Angular Velocity Max for Roll
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum angular velocity in roll axis
+----------+----------------------+-----------+--------------------+
| Range | Values | Increment | Units |
+==========+======================+===========+====================+
| 0 - 1080 | +-------+----------+ | 1 | degrees per second |
| | | Value | Meaning | | | |
| | +=======+==========+ | | |
| | | 0 | Disabled | | | |
| | +-------+----------+ | | |
| | | 360 | Slow | | | |
| | +-------+----------+ | | |
| | | 720 | Medium | | | |
| | +-------+----------+ | | |
| | | 1080 | Fast | | | |
| | +-------+----------+ | | |
| | | | |
+----------+----------------------+-----------+--------------------+
.. _ATC_RATE_P_MAX:
ATC\_RATE\_P\_MAX: Angular Velocity Max for Pitch
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum angular velocity in pitch axis
+----------+----------------------+-----------+--------------------+
| Range | Values | Increment | Units |
+==========+======================+===========+====================+
| 0 - 1080 | +-------+----------+ | 1 | degrees per second |
| | | Value | Meaning | | | |
| | +=======+==========+ | | |
| | | 0 | Disabled | | | |
| | +-------+----------+ | | |
| | | 360 | Slow | | | |
| | +-------+----------+ | | |
| | | 720 | Medium | | | |
| | +-------+----------+ | | |
| | | 1080 | Fast | | | |
| | +-------+----------+ | | |
| | | | |
+----------+----------------------+-----------+--------------------+
.. _ATC_RATE_Y_MAX:
ATC\_RATE\_Y\_MAX: Angular Velocity Max for Pitch
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum angular velocity in pitch axis
+----------+----------------------+-----------+--------------------+
| Range | Values | Increment | Units |
+==========+======================+===========+====================+
| 0 - 1080 | +-------+----------+ | 1 | degrees per second |
| | | Value | Meaning | | | |
| | +=======+==========+ | | |
| | | 0 | Disabled | | | |
| | +-------+----------+ | | |
| | | 360 | Slow | | | |
| | +-------+----------+ | | |
| | | 720 | Medium | | | |
| | +-------+----------+ | | |
| | | 1080 | Fast | | | |
| | +-------+----------+ | | |
| | | | |
+----------+----------------------+-----------+--------------------+
.. _ATC_INPUT_TC:
ATC\_INPUT\_TC: Attitude control input time constant \(aka smoothing\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Attitude control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response
+-------+------------------------------------------------------------------+-----------+---------+
| Range | Values | Increment | Units |
+=======+==================================================================+===========+=========+
| 0 - 1 | 0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp | 0.01 | seconds |
+-------+------------------------------------------------------------------+-----------+---------+
.. _ATC_RAT_RLL_P:
ATC\_RAT\_RLL\_P: Roll axis rate controller P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis rate controller P gain\. Converts the difference between desired roll rate and actual roll rate into a motor speed output
+------------+-----------+
| Range | Increment |
+============+===========+
| 0.05 - 0.5 | 0.005 |
+------------+-----------+
.. _ATC_RAT_RLL_I:
ATC\_RAT\_RLL\_I: Roll axis rate controller I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate
+------------+-----------+
| Range | Increment |
+============+===========+
| 0.01 - 2.0 | 0.01 |
+------------+-----------+
.. _ATC_RAT_RLL_IMAX:
ATC\_RAT\_RLL\_IMAX: Roll axis rate controller I gain maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis rate controller I gain maximum\. Constrains the maximum motor output that the I gain will output
+-------+-----------+---------+
| Range | Increment | Units |
+=======+===========+=========+
| 0 - 1 | 0.01 | percent |
+-------+-----------+---------+
.. _ATC_RAT_RLL_D:
ATC\_RAT\_RLL\_D: Roll axis rate controller D gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate
+------------+-----------+
| Range | Increment |
+============+===========+
| 0.0 - 0.02 | 0.001 |
+------------+-----------+
.. _ATC_RAT_RLL_FF:
ATC\_RAT\_RLL\_FF: Roll axis rate controller feed forward
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis rate controller feed forward
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 0.5 | 0.001 |
+---------+-----------+
.. _ATC_RAT_RLL_FILT:
ATC\_RAT\_RLL\_FILT: Roll axis rate controller input frequency in Hz
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis rate controller input frequency in Hz
+---------+-----------+-------+
| Range | Increment | Units |
+=========+===========+=======+
| 1 - 100 | 1 | hertz |
+---------+-----------+-------+
.. _ATC_RAT_PIT_P:
ATC\_RAT\_PIT\_P: Pitch axis rate controller P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis rate controller P gain\. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
+-------------+-----------+
| Range | Increment |
+=============+===========+
| 0.05 - 0.50 | 0.005 |
+-------------+-----------+
.. _ATC_RAT_PIT_I:
ATC\_RAT\_PIT\_I: Pitch axis rate controller I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis rate controller I gain\. Corrects long\-term difference in desired pitch rate vs actual pitch rate
+------------+-----------+
| Range | Increment |
+============+===========+
| 0.01 - 2.0 | 0.01 |
+------------+-----------+
.. _ATC_RAT_PIT_IMAX:
ATC\_RAT\_PIT\_IMAX: Pitch axis rate controller I gain maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis rate controller I gain maximum\. Constrains the maximum motor output that the I gain will output
+-------+-----------+---------+
| Range | Increment | Units |
+=======+===========+=========+
| 0 - 1 | 0.01 | percent |
+-------+-----------+---------+
.. _ATC_RAT_PIT_D:
ATC\_RAT\_PIT\_D: Pitch axis rate controller D gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis rate controller D gain\. Compensates for short\-term change in desired pitch rate vs actual pitch rate
+------------+-----------+
| Range | Increment |
+============+===========+
| 0.0 - 0.02 | 0.001 |
+------------+-----------+
.. _ATC_RAT_PIT_FF:
ATC\_RAT\_PIT\_FF: Pitch axis rate controller feed forward
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis rate controller feed forward
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 0.5 | 0.001 |
+---------+-----------+
.. _ATC_RAT_PIT_FILT:
ATC\_RAT\_PIT\_FILT: Pitch axis rate controller input frequency in Hz
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis rate controller input frequency in Hz
+---------+-----------+-------+
| Range | Increment | Units |
+=========+===========+=======+
| 1 - 100 | 1 | hertz |
+---------+-----------+-------+
.. _ATC_RAT_YAW_P:
ATC\_RAT\_YAW\_P: Yaw axis rate controller P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis rate controller P gain\. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
+-------------+-----------+
| Range | Increment |
+=============+===========+
| 0.10 - 2.50 | 0.005 |
+-------------+-----------+
.. _ATC_RAT_YAW_I:
ATC\_RAT\_YAW\_I: Yaw axis rate controller I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis rate controller I gain\. Corrects long\-term difference in desired yaw rate vs actual yaw rate
+-------------+-----------+
| Range | Increment |
+=============+===========+
| 0.010 - 1.0 | 0.01 |
+-------------+-----------+
.. _ATC_RAT_YAW_IMAX:
ATC\_RAT\_YAW\_IMAX: Yaw axis rate controller I gain maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis rate controller I gain maximum\. Constrains the maximum motor output that the I gain will output
+-------+-----------+---------+
| Range | Increment | Units |
+=======+===========+=========+
| 0 - 1 | 0.01 | percent |
+-------+-----------+---------+
.. _ATC_RAT_YAW_D:
ATC\_RAT\_YAW\_D: Yaw axis rate controller D gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis rate controller D gain\. Compensates for short\-term change in desired yaw rate vs actual yaw rate
+--------------+-----------+
| Range | Increment |
+==============+===========+
| 0.000 - 0.02 | 0.001 |
+--------------+-----------+
.. _ATC_RAT_YAW_FF:
ATC\_RAT\_YAW\_FF: Yaw axis rate controller feed forward
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis rate controller feed forward
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 0.5 | 0.001 |
+---------+-----------+
.. _ATC_RAT_YAW_FILT:
ATC\_RAT\_YAW\_FILT: Yaw axis rate controller input frequency in Hz
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis rate controller input frequency in Hz
+--------+-----------+-------+
| Range | Increment | Units |
+========+===========+=======+
| 1 - 10 | 1 | hertz |
+--------+-----------+-------+
.. _ATC_THR_MIX_MIN:
ATC\_THR\_MIX\_MIN: Throttle Mix Minimum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Throttle vs attitude control prioritisation used when landing \(higher values mean we prioritise attitude control over throttle\)
+------------+
| Range |
+============+
| 0.1 - 0.25 |
+------------+
.. _ATC_THR_MIX_MAX:
ATC\_THR\_MIX\_MAX: Throttle Mix Maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Throttle vs attitude control prioritisation used during active flight \(higher values mean we prioritise attitude control over throttle\)
+-----------+
| Range |
+===========+
| 0.5 - 0.9 |
+-----------+
.. _ATC_THR_MIX_MAN:
ATC\_THR\_MIX\_MAN: Throttle Mix Manual
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Throttle vs attitude control prioritisation used during manual flight \(higher values mean we prioritise attitude control over throttle\)
+-----------+
| Range |
+===========+
| 0.1 - 0.9 |
+-----------+
.. _ATC_HOVR_ROL_TRM:
ATC\_HOVR\_ROL\_TRM: Hover Roll Trim
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Trim the hover roll angle to counter tail rotor thrust in a hover
+----------+--------------+
| Range | Units |
+==========+==============+
| 0 - 1000 | centidegrees |
+----------+--------------+
.. _ATC_RAT_RLL_P:
ATC\_RAT\_RLL\_P: Roll axis rate controller P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis rate controller P gain\. Converts the difference between desired roll rate and actual roll rate into a motor speed output
+-------------+-----------+
| Range | Increment |
+=============+===========+
| 0.08 - 0.35 | 0.005 |
+-------------+-----------+
.. _ATC_RAT_RLL_I:
ATC\_RAT\_RLL\_I: Roll axis rate controller I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate
+------------+-----------+
| Range | Increment |
+============+===========+
| 0.01 - 0.6 | 0.01 |
+------------+-----------+
.. _ATC_RAT_RLL_IMAX:
ATC\_RAT\_RLL\_IMAX: Roll axis rate controller I gain maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis rate controller I gain maximum\. Constrains the maximum motor output that the I gain will output
+-------+-----------+
| Range | Increment |
+=======+===========+
| 0 - 1 | 0.01 |
+-------+-----------+
.. _ATC_RAT_RLL_D:
ATC\_RAT\_RLL\_D: Roll axis rate controller D gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate
+--------------+-----------+
| Range | Increment |
+==============+===========+
| 0.001 - 0.03 | 0.001 |
+--------------+-----------+
.. _ATC_RAT_RLL_FF:
ATC\_RAT\_RLL\_FF: Roll axis rate controller feed forward
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis rate controller feed forward
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 0.5 | 0.001 |
+---------+-----------+
.. _ATC_RAT_RLL_FILT:
ATC\_RAT\_RLL\_FILT: Roll axis rate controller input frequency in Hz
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Roll axis rate controller input frequency in Hz
+--------+-----------+-------+
| Range | Increment | Units |
+========+===========+=======+
| 1 - 20 | 1 | hertz |
+--------+-----------+-------+
.. _ATC_RAT_PIT_P:
ATC\_RAT\_PIT\_P: Pitch axis rate controller P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis rate controller P gain\. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
+-------------+-----------+
| Range | Increment |
+=============+===========+
| 0.08 - 0.35 | 0.005 |
+-------------+-----------+
.. _ATC_RAT_PIT_I:
ATC\_RAT\_PIT\_I: Pitch axis rate controller I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis rate controller I gain\. Corrects long\-term difference in desired pitch rate vs actual pitch rate
+------------+-----------+
| Range | Increment |
+============+===========+
| 0.01 - 0.6 | 0.01 |
+------------+-----------+
.. _ATC_RAT_PIT_IMAX:
ATC\_RAT\_PIT\_IMAX: Pitch axis rate controller I gain maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis rate controller I gain maximum\. Constrains the maximum motor output that the I gain will output
+-------+-----------+
| Range | Increment |
+=======+===========+
| 0 - 1 | 0.01 |
+-------+-----------+
.. _ATC_RAT_PIT_D:
ATC\_RAT\_PIT\_D: Pitch axis rate controller D gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis rate controller D gain\. Compensates for short\-term change in desired pitch rate vs actual pitch rate
+--------------+-----------+
| Range | Increment |
+==============+===========+
| 0.001 - 0.03 | 0.001 |
+--------------+-----------+
.. _ATC_RAT_PIT_FF:
ATC\_RAT\_PIT\_FF: Pitch axis rate controller feed forward
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis rate controller feed forward
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 0.5 | 0.001 |
+---------+-----------+
.. _ATC_RAT_PIT_FILT:
ATC\_RAT\_PIT\_FILT: Pitch axis rate controller input frequency in Hz
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pitch axis rate controller input frequency in Hz
+--------+-----------+-------+
| Range | Increment | Units |
+========+===========+=======+
| 1 - 20 | 1 | hertz |
+--------+-----------+-------+
.. _ATC_RAT_YAW_P:
ATC\_RAT\_YAW\_P: Yaw axis rate controller P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis rate controller P gain\. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
+--------------+-----------+
| Range | Increment |
+==============+===========+
| 0.180 - 0.60 | 0.005 |
+--------------+-----------+
.. _ATC_RAT_YAW_I:
ATC\_RAT\_YAW\_I: Yaw axis rate controller I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis rate controller I gain\. Corrects long\-term difference in desired yaw rate vs actual yaw rate
+-------------+-----------+
| Range | Increment |
+=============+===========+
| 0.01 - 0.06 | 0.01 |
+-------------+-----------+
.. _ATC_RAT_YAW_IMAX:
ATC\_RAT\_YAW\_IMAX: Yaw axis rate controller I gain maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis rate controller I gain maximum\. Constrains the maximum motor output that the I gain will output
+-------+-----------+
| Range | Increment |
+=======+===========+
| 0 - 1 | 0.01 |
+-------+-----------+
.. _ATC_RAT_YAW_D:
ATC\_RAT\_YAW\_D: Yaw axis rate controller D gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis rate controller D gain\. Compensates for short\-term change in desired yaw rate vs actual yaw rate
+--------------+-----------+
| Range | Increment |
+==============+===========+
| 0.000 - 0.02 | 0.001 |
+--------------+-----------+
.. _ATC_RAT_YAW_FF:
ATC\_RAT\_YAW\_FF: Yaw axis rate controller feed forward
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis rate controller feed forward
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 0.5 | 0.001 |
+---------+-----------+
.. _ATC_RAT_YAW_FILT:
ATC\_RAT\_YAW\_FILT: Yaw axis rate controller input frequency in Hz
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw axis rate controller input frequency in Hz
+--------+-----------+-------+
| Range | Increment | Units |
+========+===========+=======+
| 1 - 20 | 1 | hertz |
+--------+-----------+-------+
.. _ATC_PIRO_COMP:
ATC\_PIRO\_COMP: Piro Comp Enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Pirouette compensation enabled
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _parameters_AVD_:
AVD\_ Parameters
----------------
.. _AVD_ENABLE:
AVD\_ENABLE: Enable Avoidance using ADSB
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enable Avoidance using ADSB
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _AVD_F_RCVRY:
AVD\_F\_RCVRY: Recovery behaviour after a fail event
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Determines what the aircraft will do after a fail event is resolved
+-----------------------------------------+
| Values |
+=========================================+
| +-------+-----------------------------+ |
| | Value | Meaning | |
| +=======+=============================+ |
| | 0 | Remain in AVOID_ADSB | |
| +-------+-----------------------------+ |
| | 1 | Resume previous flight mode | |
| +-------+-----------------------------+ |
| | 2 | RTL | |
| +-------+-----------------------------+ |
| | 3 | Resume if AUTO else Loiter | |
| +-------+-----------------------------+ |
| |
+-----------------------------------------+
.. _AVD_OBS_MAX:
AVD\_OBS\_MAX: Maximum number of obstacles to track
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum number of obstacles to track
.. _AVD_W_TIME:
AVD\_W\_TIME: Time Horizon Warn
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Aircraft velocity vectors are multiplied by this time to determine closest approach\. If this results in an approach closer than W\_DIST\_XY or W\_DIST\_Z then W\_ACTION is undertaken \(assuming F\_ACTION is not undertaken\)
+---------+
| Units |
+=========+
| seconds |
+---------+
.. _AVD_F_TIME:
AVD\_F\_TIME: Time Horizon Fail
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Aircraft velocity vectors are multiplied by this time to determine closest approach\. If this results in an approach closer than F\_DIST\_XY or F\_DIST\_Z then F\_ACTION is undertaken
+---------+
| Units |
+=========+
| seconds |
+---------+
.. _AVD_W_DIST_XY:
AVD\_W\_DIST\_XY: Distance Warn XY
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Closest allowed projected distance before W\_ACTION is undertaken
+--------+
| Units |
+========+
| meters |
+--------+
.. _AVD_F_DIST_XY:
AVD\_F\_DIST\_XY: Distance Fail XY
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Closest allowed projected distance before F\_ACTION is undertaken
+--------+
| Units |
+========+
| meters |
+--------+
.. _AVD_W_DIST_Z:
AVD\_W\_DIST\_Z: Distance Warn Z
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Closest allowed projected distance before BEHAVIOUR\_W is undertaken
+--------+
| Units |
+========+
| meters |
+--------+
.. _AVD_F_DIST_Z:
AVD\_F\_DIST\_Z: Distance Fail Z
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Closest allowed projected distance before BEHAVIOUR\_F is undertaken
+--------+
| Units |
+========+
| meters |
+--------+
.. _AVD_F_ALT_MIN:
AVD\_F\_ALT\_MIN: ADS\-B avoidance minimum altitude
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Minimum altitude for ADS\-B avoidance\. If the vehicle is below this altitude\, no avoidance action will take place\. Useful to prevent ADS\-B avoidance from activating while below the tree line or around structures\. Default of 0 is no minimum\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _parameters_AVOID_:
AVOID\_ Parameters
------------------
.. _AVOID_ENABLE:
AVOID\_ENABLE: Avoidance control enable\/disable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Enabled\/disable stopping at fence
+------------------------------+------------------------------------------------+
| Bitmask | Values |
+==============================+================================================+
| +-----+--------------------+ | +-------+------------------------------------+ |
| | Bit | Meaning | | | Value | Meaning | |
| +=====+====================+ | +=======+====================================+ |
| | 0 | StopAtFence | | | 0 | None | |
| +-----+--------------------+ | +-------+------------------------------------+ |
| | 1 | UseProximitySensor | | | 1 | StopAtFence | |
| +-----+--------------------+ | +-------+------------------------------------+ |
| | 2 | StopAtBeaconFence | | | 2 | UseProximitySensor | |
| +-----+--------------------+ | +-------+------------------------------------+ |
| | | 3 | StopAtFence and UseProximitySensor | |
| | +-------+------------------------------------+ |
| | | 4 | StopAtBeaconFence | |
| | +-------+------------------------------------+ |
| | | 7 | All | |
| | +-------+------------------------------------+ |
| | |
+------------------------------+------------------------------------------------+
.. _AVOID_ANGLE_MAX:
AVOID\_ANGLE\_MAX: Avoidance max lean angle in non\-GPS flight modes
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Max lean angle used to avoid obstacles while in non\-GPS modes
+----------+--------------+
| Range | Units |
+==========+==============+
| 0 - 4500 | centidegrees |
+----------+--------------+
.. _AVOID_DIST_MAX:
AVOID\_DIST\_MAX: Avoidance distance maximum in non\-GPS flight modes
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Distance from object at which obstacle avoidance will begin in non\-GPS modes
+--------+--------+
| Range | Units |
+========+========+
| 1 - 30 | meters |
+--------+--------+
.. _AVOID_MARGIN:
AVOID\_MARGIN: Avoidance distance margin in GPS modes
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vehicle will attempt to stay at least this distance \(in meters\) from objects while in GPS modes
+--------+--------+
| Range | Units |
+========+========+
| 1 - 10 | meters |
+--------+--------+
.. _AVOID_BEHAVE:
AVOID\_BEHAVE: Avoidance behaviour
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Avoidance behaviour \(slide or stop\)
+---------------------+
| Values |
+=====================+
| +-------+---------+ |
| | Value | Meaning | |
| +=======+=========+ |
| | 0 | Slide | |
| +-------+---------+ |
| | 1 | Stop | |
| +-------+---------+ |
| |
+---------------------+
.. _parameters_BATT2_:
BATT2\_ Parameters
------------------
.. _BATT2_MONITOR:
BATT2\_MONITOR: Battery monitoring
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Controls enabling monitoring of the battery\'s voltage and current
+----------------------------------------+----------------+
| Values | RebootRequired |
+========================================+================+
| +-------+----------------------------+ | True |
| | Value | Meaning | | |
| +=======+============================+ | |
| | 0 | Disabled | | |
| +-------+----------------------------+ | |
| | 3 | Analog Voltage Only | | |
| +-------+----------------------------+ | |
| | 4 | Analog Voltage and Current | | |
| +-------+----------------------------+ | |
| | 5 | Solo | | |
| +-------+----------------------------+ | |
| | 6 | Bebop | | |
| +-------+----------------------------+ | |
| | 7 | SMBus-Maxell | | |
| +-------+----------------------------+ | |
| | 8 | UAVCAN-BatteryInfo | | |
| +-------+----------------------------+ | |
| | 9 | BLHeli ESC | | |
| +-------+----------------------------+ | |
| | |
+----------------------------------------+----------------+
.. _BATT2_VOLT_PIN:
BATT2\_VOLT\_PIN: Battery Voltage sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Setting this to 0 \~ 13 will enable battery voltage sensing on pins A0 \~ A13\. On the PX4\-v1 it should be set to 100\. On the Pixhawk\, Pixracer and NAVIO boards it should be set to 2\, Pixhawk2 Power2 is 13\.
+--------------------------------------------------+----------------+
| Values | RebootRequired |
+==================================================+================+
| +-------+--------------------------------------+ | True |
| | Value | Meaning | | |
| +=======+======================================+ | |
| | -1 | Disabled | | |
| +-------+--------------------------------------+ | |
| | 0 | A0 | | |
| +-------+--------------------------------------+ | |
| | 1 | A1 | | |
| +-------+--------------------------------------+ | |
| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | |
| +-------+--------------------------------------+ | |
| | 13 | Pixhawk2_PM2 | | |
| +-------+--------------------------------------+ | |
| | 100 | PX4-v1 | | |
| +-------+--------------------------------------+ | |
| | |
+--------------------------------------------------+----------------+
.. _BATT2_CURR_PIN:
BATT2\_CURR\_PIN: Battery Current sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Setting this to 0 \~ 13 will enable battery current sensing on pins A0 \~ A13\. On the PX4\-v1 it should be set to 101\. On the Pixhawk\, Pixracer and NAVIO boards it should be set to 3\, Pixhawk2 Power2 is 14\.
+--------------------------------------------------+----------------+
| Values | RebootRequired |
+==================================================+================+
| +-------+--------------------------------------+ | True |
| | Value | Meaning | | |
| +=======+======================================+ | |
| | -1 | Disabled | | |
| +-------+--------------------------------------+ | |
| | 1 | A1 | | |
| +-------+--------------------------------------+ | |
| | 2 | A2 | | |
| +-------+--------------------------------------+ | |
| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | |
| +-------+--------------------------------------+ | |
| | 14 | Pixhawk2_PM2 | | |
| +-------+--------------------------------------+ | |
| | 101 | PX4-v1 | | |
| +-------+--------------------------------------+ | |
| | |
+--------------------------------------------------+----------------+
.. _BATT2_VOLT_MULT:
BATT2\_VOLT\_MULT: Voltage Multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Used to convert the voltage of the voltage sensing pin \(BATT2\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick on APM2 or 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:
BATT2\_AMP\_PERVLT: Amps per volt
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Number of amps that a 1V reading on the current sensor corresponds to\. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\.
+-----------------+
| Units |
+=================+
| ampere per volt |
+-----------------+
.. _BATT2_AMP_OFFSET:
BATT2\_AMP\_OFFSET: AMP offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Voltage offset at zero current on current sensor
+-------+
| Units |
+=======+
| volt |
+-------+
.. _BATT2_CAPACITY:
BATT2\_CAPACITY: Battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Capacity of the battery in mAh when full
+-----------+------------------+
| Increment | Units |
+===========+==================+
| 50 | milliampere hour |
+-----------+------------------+
.. _BATT2_WATT_MAX:
BATT2\_WATT\_MAX: Maximum allowed power \(Watts\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\.
+-----------+-------+
| Increment | Units |
+===========+=======+
| 1 | watt |
+-----------+-------+
.. _BATT2_SERIAL_NUM:
BATT2\_SERIAL\_NUM: Battery serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With UAVCAN it is the battery\_id\.
.. _BATT2_LOW_TIMER:
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\.
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| 0 - 120 | 1 | seconds |
+---------+-----------+---------+
.. _BATT2_FS_VOLTSRC:
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:
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:
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:
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:
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:
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 | Land | |
| +-------+------------------+ |
| | 2 | RTL | |
| +-------+------------------+ |
| | 3 | SmartRTL | |
| +-------+------------------+ |
| | 4 | SmartRTL or Land | |
| +-------+------------------+ |
| | 5 | Terminate | |
| +-------+------------------+ |
| |
+------------------------------+
.. _BATT2_FS_CRT_ACT:
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 | Land | |
| +-------+------------------+ |
| | 2 | RTL | |
| +-------+------------------+ |
| | 3 | SmartRTL | |
| +-------+------------------+ |
| | 4 | SmartRTL or Land | |
| +-------+------------------+ |
| | 5 | Terminate | |
| +-------+------------------+ |
| |
+------------------------------+
.. _parameters_BATT_:
BATT\_ Parameters
-----------------
.. _BATT_MONITOR:
BATT\_MONITOR: Battery monitoring
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Controls enabling monitoring of the battery\'s voltage and current
+----------------------------------------+----------------+
| Values | RebootRequired |
+========================================+================+
| +-------+----------------------------+ | True |
| | Value | Meaning | | |
| +=======+============================+ | |
| | 0 | Disabled | | |
| +-------+----------------------------+ | |
| | 3 | Analog Voltage Only | | |
| +-------+----------------------------+ | |
| | 4 | Analog Voltage and Current | | |
| +-------+----------------------------+ | |
| | 5 | Solo | | |
| +-------+----------------------------+ | |
| | 6 | Bebop | | |
| +-------+----------------------------+ | |
| | 7 | SMBus-Maxell | | |
| +-------+----------------------------+ | |
| | 8 | UAVCAN-BatteryInfo | | |
| +-------+----------------------------+ | |
| | 9 | BLHeli ESC | | |
| +-------+----------------------------+ | |
| | |
+----------------------------------------+----------------+
.. _BATT_VOLT_PIN:
BATT\_VOLT\_PIN: Battery Voltage sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Setting this to 0 \~ 13 will enable battery voltage sensing on pins A0 \~ A13\. On the PX4\-v1 it should be set to 100\. On the Pixhawk\, Pixracer and NAVIO boards it should be set to 2\, Pixhawk2 Power2 is 13\.
+--------------------------------------------------+----------------+
| Values | RebootRequired |
+==================================================+================+
| +-------+--------------------------------------+ | True |
| | Value | Meaning | | |
| +=======+======================================+ | |
| | -1 | Disabled | | |
| +-------+--------------------------------------+ | |
| | 0 | A0 | | |
| +-------+--------------------------------------+ | |
| | 1 | A1 | | |
| +-------+--------------------------------------+ | |
| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | |
| +-------+--------------------------------------+ | |
| | 13 | Pixhawk2_PM2 | | |
| +-------+--------------------------------------+ | |
| | 100 | PX4-v1 | | |
| +-------+--------------------------------------+ | |
| | |
+--------------------------------------------------+----------------+
.. _BATT_CURR_PIN:
BATT\_CURR\_PIN: Battery Current sensing pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Setting this to 0 \~ 13 will enable battery current sensing on pins A0 \~ A13\. On the PX4\-v1 it should be set to 101\. On the Pixhawk\, Pixracer and NAVIO boards it should be set to 3\, Pixhawk2 Power2 is 14\.
+--------------------------------------------------+----------------+
| Values | RebootRequired |
+==================================================+================+
| +-------+--------------------------------------+ | True |
| | Value | Meaning | | |
| +=======+======================================+ | |
| | -1 | Disabled | | |
| +-------+--------------------------------------+ | |
| | 1 | A1 | | |
| +-------+--------------------------------------+ | |
| | 2 | A2 | | |
| +-------+--------------------------------------+ | |
| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | |
| +-------+--------------------------------------+ | |
| | 14 | Pixhawk2_PM2 | | |
| +-------+--------------------------------------+ | |
| | 101 | PX4-v1 | | |
| +-------+--------------------------------------+ | |
| | |
+--------------------------------------------------+----------------+
.. _BATT_VOLT_MULT:
BATT\_VOLT\_MULT: Voltage Multiplier
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Used to convert the voltage of the voltage sensing pin \(BATT\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick on APM2 or 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:
BATT\_AMP\_PERVLT: Amps per volt
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Number of amps that a 1V reading on the current sensor corresponds to\. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\.
+-----------------+
| Units |
+=================+
| ampere per volt |
+-----------------+
.. _BATT_AMP_OFFSET:
BATT\_AMP\_OFFSET: AMP offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Voltage offset at zero current on current sensor
+-------+
| Units |
+=======+
| volt |
+-------+
.. _BATT_CAPACITY:
BATT\_CAPACITY: Battery capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Capacity of the battery in mAh when full
+-----------+------------------+
| Increment | Units |
+===========+==================+
| 50 | milliampere hour |
+-----------+------------------+
.. _BATT_WATT_MAX:
BATT\_WATT\_MAX: Maximum allowed power \(Watts\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\.
+-----------+-------+
| Increment | Units |
+===========+=======+
| 1 | watt |
+-----------+-------+
.. _BATT_SERIAL_NUM:
BATT\_SERIAL\_NUM: Battery serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With UAVCAN it is the battery\_id\.
.. _BATT_LOW_TIMER:
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\.
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| 0 - 120 | 1 | seconds |
+---------+-----------+---------+
.. _BATT_FS_VOLTSRC:
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:
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:
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:
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:
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:
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 | Land | |
| +-------+------------------+ |
| | 2 | RTL | |
| +-------+------------------+ |
| | 3 | SmartRTL | |
| +-------+------------------+ |
| | 4 | SmartRTL or Land | |
| +-------+------------------+ |
| | 5 | Terminate | |
| +-------+------------------+ |
| |
+------------------------------+
.. _BATT_FS_CRT_ACT:
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 | Land | |
| +-------+------------------+ |
| | 2 | RTL | |
| +-------+------------------+ |
| | 3 | SmartRTL | |
| +-------+------------------+ |
| | 4 | SmartRTL or Land | |
| +-------+------------------+ |
| | 5 | Terminate | |
| +-------+------------------+ |
| |
+------------------------------+
.. _parameters_BCN:
BCN Parameters
--------------
.. _BCN_TYPE:
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 | |
| +-------+------------+ |
| |
+------------------------+
.. _BCN_LATITUDE:
BCN\_LATITUDE: Beacon origin\'s latitude
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Beacon origin\'s latitude
+----------+-----------+---------+
| Range | Increment | Units |
+==========+===========+=========+
| -90 - 90 | 0.000001 | degrees |
+----------+-----------+---------+
.. _BCN_LONGITUDE:
BCN\_LONGITUDE: Beacon origin\'s longitude
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Beacon origin\'s longitude
+------------+-----------+---------+
| Range | Increment | Units |
+============+===========+=========+
| -180 - 180 | 0.000001 | degrees |
+------------+-----------+---------+
.. _BCN_ALT:
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
+-----------+-----------+--------+
| Range | Increment | Units |
+===========+===========+========+
| 0 - 10000 | 1 | meters |
+-----------+-----------+--------+
.. _BCN_ORIENT_YAW:
BCN\_ORIENT\_YAW: Beacon systems rotation from north in degrees
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Beacon systems rotation from north in degrees
+-------------+-----------+---------+
| Range | Increment | Units |
+=============+===========+=========+
| -180 - +180 | 1 | degrees |
+-------------+-----------+---------+
.. _parameters_BRD_:
BRD\_ Parameters
----------------
.. _BRD_PWM_COUNT:
BRD\_PWM\_COUNT: Auxiliary pin config
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Control assigning of FMU pins to PWM output\, timer capture and GPIO\. All unassigned pins can be used for GPIO
+----------------------------------------+----------------+
| Values | RebootRequired |
+========================================+================+
| +-------+----------------------------+ | True |
| | Value | Meaning | | |
| +=======+============================+ | |
| | 0 | No PWMs | | |
| +-------+----------------------------+ | |
| | 2 | Two PWMs | | |
| +-------+----------------------------+ | |
| | 4 | Four PWMs | | |
| +-------+----------------------------+ | |
| | 6 | Six PWMs | | |
| +-------+----------------------------+ | |
| | 7 | Three PWMs and One Capture | | |
| +-------+----------------------------+ | |
| | |
+----------------------------------------+----------------+
.. _BRD_SER1_RTSCTS:
BRD\_SER1\_RTSCTS: Serial 1 flow control
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enable flow control on serial 1 \(telemetry 1\) on Pixhawk\. 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 | RebootRequired |
+======================+================+
| +-------+----------+ | True |
| | Value | Meaning | | |
| +=======+==========+ | |
| | 0 | Disabled | | |
| +-------+----------+ | |
| | 1 | Enabled | | |
| +-------+----------+ | |
| | 2 | Auto | | |
| +-------+----------+ | |
| | |
+----------------------+----------------+
.. _BRD_SER2_RTSCTS:
BRD\_SER2\_RTSCTS: Serial 2 flow control
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enable flow control on serial 2 \(telemetry 2\) on Pixhawk and STATE\. 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 | RebootRequired |
+======================+================+
| +-------+----------+ | True |
| | Value | Meaning | | |
| +=======+==========+ | |
| | 0 | Disabled | | |
| +-------+----------+ | |
| | 1 | Enabled | | |
| +-------+----------+ | |
| | 2 | Auto | | |
| +-------+----------+ | |
| | |
+----------------------+----------------+
.. _BRD_SAFETYENABLE:
BRD\_SAFETYENABLE: Enable use of safety arming switch
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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 | RebootRequired |
+======================+================+
| +-------+----------+ | True |
| | Value | Meaning | | |
| +=======+==========+ | |
| | 0 | Disabled | | |
| +-------+----------+ | |
| | 1 | Enabled | | |
| +-------+----------+ | |
| | |
+----------------------+----------------+
.. _BRD_SBUS_OUT:
BRD\_SBUS\_OUT: SBUS output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets the SBUS output frame rate in Hz
+----------------------+----------------+
| Values | RebootRequired |
+======================+================+
| +-------+----------+ | True |
| | Value | Meaning | | |
| +=======+==========+ | |
| | 0 | Disabled | | |
| +-------+----------+ | |
| | 1 | 50Hz | | |
| +-------+----------+ | |
| | 2 | 75Hz | | |
| +-------+----------+ | |
| | 3 | 100Hz | | |
| +-------+----------+ | |
| | 4 | 150Hz | | |
| +-------+----------+ | |
| | 5 | 200Hz | | |
| +-------+----------+ | |
| | 6 | 250Hz | | |
| +-------+----------+ | |
| | 7 | 300Hz | | |
| +-------+----------+ | |
| | |
+----------------------+----------------+
.. _BRD_SERIAL_NUM:
BRD\_SERIAL\_NUM: User\-defined serial number
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
User\-defined serial number of this vehicle\, it can be any arbitrary number you want and has no effect on the autopilot
+----------------+
| Range |
+================+
| -32768 - 32767 |
+----------------+
.. _BRD_SAFETY_MASK:
BRD\_SAFETY\_MASK: Channels to which ignore the safety switch state
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
A bitmask which controls what channels can move while the safety switch has not been pressed
+-------------------+----------------------+----------------+
| Bitmask | Values | RebootRequired |
+===================+======================+================+
| +-----+---------+ | +-------+----------+ | True |
| | Bit | Meaning | | | Value | Meaning | | |
| +=====+=========+ | +=======+==========+ | |
| | 0 | Ch1 | | | 0 | Disabled | | |
| +-----+---------+ | +-------+----------+ | |
| | 1 | Ch2 | | | 1 | Enabled | | |
| +-----+---------+ | +-------+----------+ | |
| | 2 | Ch3 | | | |
| +-----+---------+ | | |
| | 3 | Ch4 | | | |
| +-----+---------+ | | |
| | 4 | Ch5 | | | |
| +-----+---------+ | | |
| | 5 | Ch6 | | | |
| +-----+---------+ | | |
| | 6 | Ch7 | | | |
| +-----+---------+ | | |
| | 7 | Ch8 | | | |
| +-----+---------+ | | |
| | 8 | Ch9 | | | |
| +-----+---------+ | | |
| | 9 | Ch10 | | | |
| +-----+---------+ | | |
| | 10 | Ch11 | | | |
| +-----+---------+ | | |
| | 11 | Ch12 | | | |
| +-----+---------+ | | |
| | 12 | Ch13 | | | |
| +-----+---------+ | | |
| | 13 | Ch14 | | | |
| +-----+---------+ | | |
| | | |
+-------------------+----------------------+----------------+
.. _BRD_IMU_TARGTEMP:
BRD\_IMU\_TARGTEMP: Target IMU temperature
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets the target IMU temperature for boards with controllable IMU heating units\. DO NOT SET \-1 on The Cube\. A value of \-1 sets PH1 behaviour
+---------+-----------------+
| Range | Units |
+=========+=================+
| -1 - 80 | degrees Celsius |
+---------+-----------------+
.. _BRD_TYPE:
BRD\_TYPE: Board type
~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This allows selection of a PX4 or VRBRAIN board type\. If set to zero then the board type is auto\-detected \(PX4\)
+--------------------------------+----------------+
| Values | RebootRequired |
+================================+================+
| +-------+--------------------+ | True |
| | Value | Meaning | | |
| +=======+====================+ | |
| | 0 | AUTO | | |
| +-------+--------------------+ | |
| | 1 | PX4V1 | | |
| +-------+--------------------+ | |
| | 2 | Pixhawk | | |
| +-------+--------------------+ | |
| | 3 | Cube/Pixhawk2 | | |
| +-------+--------------------+ | |
| | 4 | Pixracer | | |
| +-------+--------------------+ | |
| | 5 | PixhawkMini | | |
| +-------+--------------------+ | |
| | 6 | Pixhawk2Slim | | |
| +-------+--------------------+ | |
| | 7 | VRBrain 5.1 | | |
| +-------+--------------------+ | |
| | 8 | VRBrain 5.2 | | |
| +-------+--------------------+ | |
| | 9 | VR Micro Brain 5.1 | | |
| +-------+--------------------+ | |
| | 10 | VR Micro Brain 5.2 | | |
| +-------+--------------------+ | |
| | 11 | VRBrain Core 1.0 | | |
| +-------+--------------------+ | |
| | 12 | VRBrain 5.4 | | |
| +-------+--------------------+ | |
| | 13 | Intel Aero FC | | |
| +-------+--------------------+ | |
| | 20 | AUAV2.1 | | |
| +-------+--------------------+ | |
| | |
+--------------------------------+----------------+
.. _BRD_IO_ENABLE:
BRD\_IO\_ENABLE: Enable IO co\-processor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This allows for the IO co\-processor on FMUv1 and FMUv2 to be disabled
+----------------------+----------------+
| Values | RebootRequired |
+======================+================+
| +-------+----------+ | True |
| | Value | Meaning | | |
| +=======+==========+ | |
| | 0 | Disabled | | |
| +-------+----------+ | |
| | 1 | Enabled | | |
| +-------+----------+ | |
| | |
+----------------------+----------------+
.. _BRD_SAFETYOPTION:
BRD\_SAFETYOPTION: Options for safety button behavior
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This controls the activation of the safety button\. It allows you to control if the safety button can be used for safety enable and\/or disable\, and whether the button is only active when disarmed
+----------------------------------+
| Bitmask |
+==================================+
| +-----+------------------------+ |
| | Bit | Meaning | |
| +=====+========================+ |
| | 0 | ActiveForSafetyEnable | |
| +-----+------------------------+ |
| | 1 | ActiveForSafetyDisable | |
| +-----+------------------------+ |
| | 2 | ActiveWhenArmed | |
| +-----+------------------------+ |
| |
+----------------------------------+
.. _BRD_SD_SLOWDOWN:
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\.
+--------+-----------+
| Range | Increment |
+========+===========+
| 0 - 32 | 1 |
+--------+-----------+
.. _BRD_OPTIONS:
BRD\_OPTIONS: Board options
~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Board specific option flags
+------------------------------------+
| Bitmask |
+====================================+
| +-----+--------------------------+ |
| | Bit | Meaning | |
| +=====+==========================+ |
| | 0 | Enable hardware watchdog | |
| +-----+--------------------------+ |
| |
+------------------------------------+
.. _parameters_BRD_RADIO:
BRD\_RADIO Parameters
---------------------
.. _BRD_RADIO_TYPE:
BRD\_RADIO\_TYPE: Set type of direct attached radio
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This enables support for direct attached radio receivers
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | None | |
| +-------+----------+ |
| | 1 | CYRF6936 | |
| +-------+----------+ |
| |
+----------------------+
.. _BRD_RADIO_PROT:
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:
BRD\_RADIO\_DEBUG: debug level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
radio debug level
+-------+
| Range |
+=======+
| 0 - 4 |
+-------+
.. _BRD_RADIO_DISCRC:
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:
BRD\_RADIO\_SIGCH: RSSI signal strength
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Channel to show receive RSSI signal strength\, or zero for disabled
+--------+
| Range |
+========+
| 0 - 16 |
+--------+
.. _BRD_RADIO_PPSCH:
BRD\_RADIO\_PPSCH: Packet rate channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Channel to show received packet\-per\-second rate\, or zero for disabled
+--------+
| Range |
+========+
| 0 - 16 |
+--------+
.. _BRD_RADIO_TELEM:
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:
BRD\_RADIO\_TXPOW: Telemetry Transmit power
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Set telemetry transmit power\. This is the power level \(from 1 to 8\) for telemetry packets sent from the RX to the TX
+-------+
| Range |
+=======+
| 1 - 8 |
+-------+
.. _BRD_RADIO_FCCTST:
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:
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:
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:
BRD\_RADIO\_TSIGCH: RSSI value channel for telemetry data on transmitter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Channel to show telemetry RSSI value as received by TX
+--------+
| Range |
+========+
| 0 - 16 |
+--------+
.. _BRD_RADIO_TPPSCH:
BRD\_RADIO\_TPPSCH: Telemetry PPS channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Channel to show telemetry packets\-per\-second value\, as received at TX
+--------+
| Range |
+========+
| 0 - 16 |
+--------+
.. _BRD_RADIO_TXMAX:
BRD\_RADIO\_TXMAX: Transmitter transmit power
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Set transmitter maximum transmit power \(from 1 to 8\)
+-------+
| Range |
+=======+
| 1 - 8 |
+-------+
.. _BRD_RADIO_BZOFS:
BRD\_RADIO\_BZOFS: Transmitter buzzer adjustment
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Set transmitter buzzer note adjustment \(adjust frequency up\)
+--------+
| Range |
+========+
| 0 - 40 |
+--------+
.. _BRD_RADIO_ABTIME:
BRD\_RADIO\_ABTIME: Auto\-bind time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
When non\-zero this sets the time with no transmitter packets before we start looking for auto\-bind packets\.
+---------+
| Range |
+=========+
| 0 - 120 |
+---------+
.. _BRD_RADIO_ABLVL:
BRD\_RADIO\_ABLVL: Auto\-bind level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets the minimum RSSI of an auto\-bind packet for it to be accepted\. This should be set so that auto\-bind will only happen at short range to minimise the change of an auto\-bind happening accidentially
+--------+
| Range |
+========+
| 0 - 31 |
+--------+
.. _parameters_BRD_RTC:
BRD\_RTC Parameters
-------------------
.. _BRD_RTC_TYPES:
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 | |
| +-----+---------------------+ |
| |
+-------------------------------+
.. _parameters_BTN_:
BTN\_ Parameters
----------------
.. _BTN_ENABLE:
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:
BTN\_PIN1: First button Pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~
Digital pin number for first button input\.
+-----------------------------+
| Values |
+=============================+
| +-------+-----------------+ |
| | Value | Meaning | |
| +=======+=================+ |
| | -1 | Disabled | |
| +-------+-----------------+ |
| | 50 | Pixhawk AUXOUT1 | |
| +-------+-----------------+ |
| | 51 | Pixhawk AUXOUT2 | |
| +-------+-----------------+ |
| | 52 | Pixhawk AUXOUT3 | |
| +-------+-----------------+ |
| | 53 | Pixhawk AUXOUT4 | |
| +-------+-----------------+ |
| | 54 | Pixhawk AUXOUT5 | |
| +-------+-----------------+ |
| | 55 | Pixhawk AUXOUT6 | |
| +-------+-----------------+ |
| | 111 | PX4 FMU Relay1 | |
| +-------+-----------------+ |
| | 112 | PX4 FMU Relay2 | |
| +-------+-----------------+ |
| | 113 | PX4IO Relay1 | |
| +-------+-----------------+ |
| | 114 | PX4IO Relay2 | |
| +-------+-----------------+ |
| | 115 | PX4IO ACC1 | |
| +-------+-----------------+ |
| | 116 | PX4IO ACC2 | |
| +-------+-----------------+ |
| |
+-----------------------------+
.. _BTN_PIN2:
BTN\_PIN2: Second button Pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Digital pin number for second button input\.
+-----------------------------+
| Values |
+=============================+
| +-------+-----------------+ |
| | Value | Meaning | |
| +=======+=================+ |
| | -1 | Disabled | |
| +-------+-----------------+ |
| | 50 | Pixhawk AUXOUT1 | |
| +-------+-----------------+ |
| | 51 | Pixhawk AUXOUT2 | |
| +-------+-----------------+ |
| | 52 | Pixhawk AUXOUT3 | |
| +-------+-----------------+ |
| | 53 | Pixhawk AUXOUT4 | |
| +-------+-----------------+ |
| | 54 | Pixhawk AUXOUT5 | |
| +-------+-----------------+ |
| | 55 | Pixhawk AUXOUT6 | |
| +-------+-----------------+ |
| | 111 | PX4 FMU Relay1 | |
| +-------+-----------------+ |
| | 112 | PX4 FMU Relay2 | |
| +-------+-----------------+ |
| | 113 | PX4IO Relay1 | |
| +-------+-----------------+ |
| | 114 | PX4IO Relay2 | |
| +-------+-----------------+ |
| | 115 | PX4IO ACC1 | |
| +-------+-----------------+ |
| | 116 | PX4IO ACC2 | |
| +-------+-----------------+ |
| |
+-----------------------------+
.. _BTN_PIN3:
BTN\_PIN3: Third button Pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~
Digital pin number for third button input\.
+-----------------------------+
| Values |
+=============================+
| +-------+-----------------+ |
| | Value | Meaning | |
| +=======+=================+ |
| | -1 | Disabled | |
| +-------+-----------------+ |
| | 50 | Pixhawk AUXOUT1 | |
| +-------+-----------------+ |
| | 51 | Pixhawk AUXOUT2 | |
| +-------+-----------------+ |
| | 52 | Pixhawk AUXOUT3 | |
| +-------+-----------------+ |
| | 53 | Pixhawk AUXOUT4 | |
| +-------+-----------------+ |
| | 54 | Pixhawk AUXOUT5 | |
| +-------+-----------------+ |
| | 55 | Pixhawk AUXOUT6 | |
| +-------+-----------------+ |
| | 111 | PX4 FMU Relay1 | |
| +-------+-----------------+ |
| | 112 | PX4 FMU Relay2 | |
| +-------+-----------------+ |
| | 113 | PX4IO Relay1 | |
| +-------+-----------------+ |
| | 114 | PX4IO Relay2 | |
| +-------+-----------------+ |
| | 115 | PX4IO ACC1 | |
| +-------+-----------------+ |
| | 116 | PX4IO ACC2 | |
| +-------+-----------------+ |
| |
+-----------------------------+
.. _BTN_PIN4:
BTN\_PIN4: Fourth button Pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Digital pin number for fourth button input\.
+-----------------------------+
| Values |
+=============================+
| +-------+-----------------+ |
| | Value | Meaning | |
| +=======+=================+ |
| | -1 | Disabled | |
| +-------+-----------------+ |
| | 50 | Pixhawk AUXOUT1 | |
| +-------+-----------------+ |
| | 51 | Pixhawk AUXOUT2 | |
| +-------+-----------------+ |
| | 52 | Pixhawk AUXOUT3 | |
| +-------+-----------------+ |
| | 53 | Pixhawk AUXOUT4 | |
| +-------+-----------------+ |
| | 54 | Pixhawk AUXOUT5 | |
| +-------+-----------------+ |
| | 55 | Pixhawk AUXOUT6 | |
| +-------+-----------------+ |
| | 111 | PX4 FMU Relay1 | |
| +-------+-----------------+ |
| | 112 | PX4 FMU Relay2 | |
| +-------+-----------------+ |
| | 113 | PX4IO Relay1 | |
| +-------+-----------------+ |
| | 114 | PX4IO Relay2 | |
| +-------+-----------------+ |
| | 115 | PX4IO ACC1 | |
| +-------+-----------------+ |
| | 116 | PX4IO ACC2 | |
| +-------+-----------------+ |
| |
+-----------------------------+
.. _BTN_REPORT_SEND:
BTN\_REPORT\_SEND: Report send time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The duration in seconds that a BUTTON\_CHANGE report is repeatedly sent to the GCS regarding a button changing state\. Note that the BUTTON\_CHANGE message is MAVLink2 only\.
+----------+
| Range |
+==========+
| 0 - 3600 |
+----------+
.. _parameters_CAM_:
CAM\_ Parameters
----------------
.. _CAM_TRIGG_TYPE:
CAM\_TRIGG\_TYPE: Camera shutter \(trigger\) type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
how to trigger the camera to take a picture
+---------------------+
| Values |
+=====================+
| +-------+---------+ |
| | Value | Meaning | |
| +=======+=========+ |
| | 0 | Servo | |
| +-------+---------+ |
| | 1 | Relay | |
| +-------+---------+ |
| |
+---------------------+
.. _CAM_DURATION:
CAM\_DURATION: Duration that shutter is held open
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
How long the shutter will be held open in 10ths of a second \(i\.e\. enter 10 for 1second\, 50 for 5seconds\)
+--------+-------------+
| Range | Units |
+========+=============+
| 0 - 50 | deciseconds |
+--------+-------------+
.. _CAM_SERVO_ON:
CAM\_SERVO\_ON: Servo ON PWM value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
PWM value in microseconds to move servo to when shutter is activated
+-------------+---------------------+
| Range | Units |
+=============+=====================+
| 1000 - 2000 | PWM in microseconds |
+-------------+---------------------+
.. _CAM_SERVO_OFF:
CAM\_SERVO\_OFF: Servo OFF PWM value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
PWM value in microseconds to move servo to when shutter is deactivated
+-------------+---------------------+
| Range | Units |
+=============+=====================+
| 1000 - 2000 | PWM in microseconds |
+-------------+---------------------+
.. _CAM_TRIGG_DIST:
CAM\_TRIGG\_DIST: Camera trigger distance
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\.
+----------+--------+
| Range | Units |
+==========+========+
| 0 - 1000 | meters |
+----------+--------+
.. _CAM_RELAY_ON:
CAM\_RELAY\_ON: Relay ON value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera
+---------------------+
| Values |
+=====================+
| +-------+---------+ |
| | Value | Meaning | |
| +=======+=========+ |
| | 0 | Low | |
| +-------+---------+ |
| | 1 | High | |
| +-------+---------+ |
| |
+---------------------+
.. _CAM_MIN_INTERVAL:
CAM\_MIN\_INTERVAL: Minimum time between photos
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Postpone shooting if previous picture was taken less than preset time\(ms\) ago\.
+-----------+--------------+
| Range | Units |
+===========+==============+
| 0 - 10000 | milliseconds |
+-----------+--------------+
.. _CAM_MAX_ROLL:
CAM\_MAX\_ROLL: Maximum photo roll angle\.
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Postpone shooting if roll is greater than limit\. \(0\=Disable\, will shoot regardless of roll\)\.
+---------+---------+
| Range | Units |
+=========+=========+
| 0 - 180 | degrees |
+---------+---------+
.. _CAM_FEEDBACK_PIN:
CAM\_FEEDBACK\_PIN: Camera feedback pin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. See also the CAM\_FEEDBACK\_POL option\. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond\.
+------------------------------------+----------------+
| Values | RebootRequired |
+====================================+================+
| +-------+------------------------+ | True |
| | Value | Meaning | | |
| +=======+========================+ | |
| | -1 | Disabled | | |
| +-------+------------------------+ | |
| | 50 | PX4 AUX1 | | |
| +-------+------------------------+ | |
| | 51 | PX4 AUX2 | | |
| +-------+------------------------+ | |
| | 52 | PX4 AUX3 | | |
| +-------+------------------------+ | |
| | 53 | PX4 AUX4(fast capture) | | |
| +-------+------------------------+ | |
| | 54 | PX4 AUX5 | | |
| +-------+------------------------+ | |
| | 55 | PX4 AUX6 | | |
| +-------+------------------------+ | |
| | |
+------------------------------------+----------------+
.. _CAM_FEEDBACK_POL:
CAM\_FEEDBACK\_POL: Camera feedback pin polarity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low
+-------------------------+
| Values |
+=========================+
| +-------+-------------+ |
| | Value | Meaning | |
| +=======+=============+ |
| | 0 | TriggerLow | |
| +-------+-------------+ |
| | 1 | TriggerHigh | |
| +-------+-------------+ |
| |
+-------------------------+
.. _CAM_AUTO_ONLY:
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 | |
| +-------+-------------------+ |
| |
+-------------------------------+
.. _parameters_CAN_D1_:
CAN\_D1\_ Parameters
--------------------
.. _CAN_D1_PROTOCOL:
CAN\_D1\_PROTOCOL: Enable use of specific protocol over virtual driver
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enabling this option starts selected protocol that will use this virtual driver
+----------------------+----------------+
| Values | RebootRequired |
+======================+================+
| +-------+----------+ | True |
| | Value | Meaning | | |
| +=======+==========+ | |
| | 0 | Disabled | | |
| +-------+----------+ | |
| | 1 | UAVCAN | | |
| +-------+----------+ | |
| | |
+----------------------+----------------+
.. _parameters_CAN_D1_UC_:
CAN\_D1\_UC\_ Parameters
------------------------
.. _CAN_D1_UC_NODE:
CAN\_D1\_UC\_NODE: UAVCAN node that is used for this network
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
UAVCAN node should be set implicitly
+---------+
| Range |
+=========+
| 1 - 250 |
+---------+
.. _CAN_D1_UC_SRV_BM:
CAN\_D1\_UC\_SRV\_BM: RC Out channels to be transmitted as servo over UAVCAN
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| Bitmask |
+===============================================================================================================================================================================================+
| 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15 |
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
.. _CAN_D1_UC_ESC_BM:
CAN\_D1\_UC\_ESC\_BM: RC Out channels to be transmitted as ESC over UAVCAN
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| Bitmask |
+=============================================================================================================================================================================+
| 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16 |
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
.. _CAN_D1_UC_SRV_RT:
CAN\_D1\_UC\_SRV\_RT: Servo output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum transmit rate for servo outputs
+---------+-------+
| Range | Units |
+=========+=======+
| 1 - 200 | hertz |
+---------+-------+
.. _parameters_CAN_D2_:
CAN\_D2\_ Parameters
--------------------
.. _CAN_D2_PROTOCOL:
CAN\_D2\_PROTOCOL: Enable use of specific protocol over virtual driver
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enabling this option starts selected protocol that will use this virtual driver
+----------------------+----------------+
| Values | RebootRequired |
+======================+================+
| +-------+----------+ | True |
| | Value | Meaning | | |
| +=======+==========+ | |
| | 0 | Disabled | | |
| +-------+----------+ | |
| | 1 | UAVCAN | | |
| +-------+----------+ | |
| | |
+----------------------+----------------+
.. _parameters_CAN_D2_UC_:
CAN\_D2\_UC\_ Parameters
------------------------
.. _CAN_D2_UC_NODE:
CAN\_D2\_UC\_NODE: UAVCAN node that is used for this network
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
UAVCAN node should be set implicitly
+---------+
| Range |
+=========+
| 1 - 250 |
+---------+
.. _CAN_D2_UC_SRV_BM:
CAN\_D2\_UC\_SRV\_BM: RC Out channels to be transmitted as servo over UAVCAN
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| Bitmask |
+===============================================================================================================================================================================================+
| 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15 |
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
.. _CAN_D2_UC_ESC_BM:
CAN\_D2\_UC\_ESC\_BM: RC Out channels to be transmitted as ESC over UAVCAN
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| Bitmask |
+=============================================================================================================================================================================+
| 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16 |
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
.. _CAN_D2_UC_SRV_RT:
CAN\_D2\_UC\_SRV\_RT: Servo output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum transmit rate for servo outputs
+---------+-------+
| Range | Units |
+=========+=======+
| 1 - 200 | hertz |
+---------+-------+
.. _parameters_CAN_D3_:
CAN\_D3\_ Parameters
--------------------
.. _CAN_D3_PROTOCOL:
CAN\_D3\_PROTOCOL: Enable use of specific protocol over virtual driver
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enabling this option starts selected protocol that will use this virtual driver
+----------------------+----------------+
| Values | RebootRequired |
+======================+================+
| +-------+----------+ | True |
| | Value | Meaning | | |
| +=======+==========+ | |
| | 0 | Disabled | | |
| +-------+----------+ | |
| | 1 | UAVCAN | | |
| +-------+----------+ | |
| | |
+----------------------+----------------+
.. _parameters_CAN_D3_UC_:
CAN\_D3\_UC\_ Parameters
------------------------
.. _CAN_D3_UC_NODE:
CAN\_D3\_UC\_NODE: UAVCAN node that is used for this network
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
UAVCAN node should be set implicitly
+---------+
| Range |
+=========+
| 1 - 250 |
+---------+
.. _CAN_D3_UC_SRV_BM:
CAN\_D3\_UC\_SRV\_BM: RC Out channels to be transmitted as servo over UAVCAN
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| Bitmask |
+===============================================================================================================================================================================================+
| 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15 |
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
.. _CAN_D3_UC_ESC_BM:
CAN\_D3\_UC\_ESC\_BM: RC Out channels to be transmitted as ESC over UAVCAN
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| Bitmask |
+=============================================================================================================================================================================+
| 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16 |
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
.. _CAN_D3_UC_SRV_RT:
CAN\_D3\_UC\_SRV\_RT: Servo output rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum transmit rate for servo outputs
+---------+-------+
| Range | Units |
+=========+=======+
| 1 - 200 | hertz |
+---------+-------+
.. _parameters_CAN_P1_:
CAN\_P1\_ Parameters
--------------------
.. _CAN_P1_DRIVER:
CAN\_P1\_DRIVER: Index of virtual driver to be used with physical CAN interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Enabling this option enables use of CAN buses\.
+---------------------------+----------------+
| Values | RebootRequired |
+===========================+================+
| +-------+---------------+ | True |
| | Value | Meaning | | |
| +=======+===============+ | |
| | 0 | Disabled | | |
| +-------+---------------+ | |
| | 1 | First driver | | |
| +-------+---------------+ | |
| | 2 | Second driver | | |
| +-------+---------------+ | |
| | |
+---------------------------+----------------+
.. _CAN_P1_BITRATE:
CAN\_P1\_BITRATE: Bitrate of CAN interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bit rate can be set up to from 10000 to 1000000
+-----------------+
| Range |
+=================+
| 10000 - 1000000 |
+-----------------+
.. _CAN_P1_DEBUG:
CAN\_P1\_DEBUG: Level of debug for CAN devices
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enabling this option will provide debug messages
+----------------------------+
| Values |
+============================+
| +-------+----------------+ |
| | Value | Meaning | |
| +=======+================+ |
| | 0 | Disabled | |
| +-------+----------------+ |
| | 1 | Major messages | |
| +-------+----------------+ |
| | 2 | All messages | |
| +-------+----------------+ |
| |
+----------------------------+
.. _parameters_CAN_P2_:
CAN\_P2\_ Parameters
--------------------
.. _CAN_P2_DRIVER:
CAN\_P2\_DRIVER: Index of virtual driver to be used with physical CAN interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Enabling this option enables use of CAN buses\.
+---------------------------+----------------+
| Values | RebootRequired |
+===========================+================+
| +-------+---------------+ | True |
| | Value | Meaning | | |
| +=======+===============+ | |
| | 0 | Disabled | | |
| +-------+---------------+ | |
| | 1 | First driver | | |
| +-------+---------------+ | |
| | 2 | Second driver | | |
| +-------+---------------+ | |
| | |
+---------------------------+----------------+
.. _CAN_P2_BITRATE:
CAN\_P2\_BITRATE: Bitrate of CAN interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bit rate can be set up to from 10000 to 1000000
+-----------------+
| Range |
+=================+
| 10000 - 1000000 |
+-----------------+
.. _CAN_P2_DEBUG:
CAN\_P2\_DEBUG: Level of debug for CAN devices
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enabling this option will provide debug messages
+----------------------------+
| Values |
+============================+
| +-------+----------------+ |
| | Value | Meaning | |
| +=======+================+ |
| | 0 | Disabled | |
| +-------+----------------+ |
| | 1 | Major messages | |
| +-------+----------------+ |
| | 2 | All messages | |
| +-------+----------------+ |
| |
+----------------------------+
.. _parameters_CAN_P3_:
CAN\_P3\_ Parameters
--------------------
.. _CAN_P3_DRIVER:
CAN\_P3\_DRIVER: Index of virtual driver to be used with physical CAN interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Enabling this option enables use of CAN buses\.
+---------------------------+----------------+
| Values | RebootRequired |
+===========================+================+
| +-------+---------------+ | True |
| | Value | Meaning | | |
| +=======+===============+ | |
| | 0 | Disabled | | |
| +-------+---------------+ | |
| | 1 | First driver | | |
| +-------+---------------+ | |
| | 2 | Second driver | | |
| +-------+---------------+ | |
| | |
+---------------------------+----------------+
.. _CAN_P3_BITRATE:
CAN\_P3\_BITRATE: Bitrate of CAN interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bit rate can be set up to from 10000 to 1000000
+-----------------+
| Range |
+=================+
| 10000 - 1000000 |
+-----------------+
.. _CAN_P3_DEBUG:
CAN\_P3\_DEBUG: Level of debug for CAN devices
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enabling this option will provide debug messages
+----------------------------+
| Values |
+============================+
| +-------+----------------+ |
| | Value | Meaning | |
| +=======+================+ |
| | 0 | Disabled | |
| +-------+----------------+ |
| | 1 | Major messages | |
| +-------+----------------+ |
| | 2 | All messages | |
| +-------+----------------+ |
| |
+----------------------------+
.. _parameters_CHUTE_:
CHUTE\_ Parameters
------------------
.. _CHUTE_ENABLED:
CHUTE\_ENABLED: Parachute release enabled or disabled
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Parachute release enabled or disabled
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _CHUTE_TYPE:
CHUTE\_TYPE: Parachute release mechanism type \(relay or servo\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Parachute release mechanism type \(relay or servo\)
+--------------------------+
| Values |
+==========================+
| +-------+--------------+ |
| | Value | Meaning | |
| +=======+==============+ |
| | 0 | First Relay | |
| +-------+--------------+ |
| | 1 | Second Relay | |
| +-------+--------------+ |
| | 2 | Third Relay | |
| +-------+--------------+ |
| | 3 | Fourth Relay | |
| +-------+--------------+ |
| | 10 | Servo | |
| +-------+--------------+ |
| |
+--------------------------+
.. _CHUTE_SERVO_ON:
CHUTE\_SERVO\_ON: Parachute Servo ON PWM value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Parachute Servo PWM value in microseconds when parachute is released
+-------------+-----------+---------------------+
| Range | Increment | Units |
+=============+===========+=====================+
| 1000 - 2000 | 1 | PWM in microseconds |
+-------------+-----------+---------------------+
.. _CHUTE_SERVO_OFF:
CHUTE\_SERVO\_OFF: Servo OFF PWM value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Parachute Servo PWM value in microseconds when parachute is not released
+-------------+-----------+---------------------+
| Range | Increment | Units |
+=============+===========+=====================+
| 1000 - 2000 | 1 | PWM in microseconds |
+-------------+-----------+---------------------+
.. _CHUTE_ALT_MIN:
CHUTE\_ALT\_MIN: Parachute min altitude in meters above home
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Parachute min altitude above home\. Parachute will not be released below this altitude\. 0 to disable alt check\.
+-----------+-----------+--------+
| Range | Increment | Units |
+===========+===========+========+
| 0 - 32000 | 1 | meters |
+-----------+-----------+--------+
.. _CHUTE_DELAY_MS:
CHUTE\_DELAY\_MS: Parachute release delay
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Delay in millseconds between motor stop and chute release
+----------+-----------+--------------+
| Range | Increment | Units |
+==========+===========+==============+
| 0 - 5000 | 1 | milliseconds |
+----------+-----------+--------------+
.. _parameters_CIRCLE_:
CIRCLE\_ Parameters
-------------------
.. _CIRCLE_RADIUS:
CIRCLE\_RADIUS: Circle Radius
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Defines the radius of the circle the vehicle will fly when in Circle flight mode
+-----------+-----------+-------------+
| Range | Increment | Units |
+===========+===========+=============+
| 0 - 10000 | 100 | centimeters |
+-----------+-----------+-------------+
.. _CIRCLE_RATE:
CIRCLE\_RATE: Circle rate
~~~~~~~~~~~~~~~~~~~~~~~~~
Circle mode\'s turn rate in deg\/sec\. Positive to turn clockwise\, negative for counter clockwise
+----------+-----------+--------------------+
| Range | Increment | Units |
+==========+===========+====================+
| -90 - 90 | 1 | degrees per second |
+----------+-----------+--------------------+
.. _parameters_COMPASS_:
COMPASS\_ Parameters
--------------------
.. _COMPASS_OFS_X:
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
+------------+-----------+------------+
| Range | Increment | Units |
+============+===========+============+
| -400 - 400 | 1 | milligauss |
+------------+-----------+------------+
.. _COMPASS_OFS_Y:
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
+------------+-----------+------------+
| Range | Increment | Units |
+============+===========+============+
| -400 - 400 | 1 | milligauss |
+------------+-----------+------------+
.. _COMPASS_OFS_Z:
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
+------------+-----------+------------+
| Range | Increment | Units |
+============+===========+============+
| -400 - 400 | 1 | milligauss |
+------------+-----------+------------+
.. _COMPASS_DEC:
COMPASS\_DEC: Compass declination
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
An angle to compensate between the true north and magnetic north
+----------------+-----------+---------+
| Range | Increment | Units |
+================+===========+=========+
| -3.142 - 3.142 | 0.01 | radians |
+----------------+-----------+---------+
.. _COMPASS_LEARN:
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\.
+-------------------------------+
| Values |
+===============================+
| +-------+-------------------+ |
| | Value | Meaning | |
| +=======+===================+ |
| | 0 | Disabled | |
| +-------+-------------------+ |
| | 1 | Internal-Learning | |
| +-------+-------------------+ |
| | 2 | EKF-Learning | |
| +-------+-------------------+ |
| |
+-------------------------------+
.. _COMPASS_USE:
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:
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:
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\.
+--------------------------+
| Values |
+==========================+
| +-------+--------------+ |
| | Value | Meaning | |
| +=======+==============+ |
| | 0 | Disabled | |
| +-------+--------------+ |
| | 1 | Use Throttle | |
| +-------+--------------+ |
| | 2 | Use Current | |
| +-------+--------------+ |
| |
+--------------------------+
.. _COMPASS_MOT_X:
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 \(Offset per Amp or at Full Throttle\)
+--------------+-----------+-----------------------+
| Range | Increment | Units |
+==============+===========+=======================+
| -1000 - 1000 | 1 | milligauss per ampere |
+--------------+-----------+-----------------------+
.. _COMPASS_MOT_Y:
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 \(Offset per Amp or at Full Throttle\)
+--------------+-----------+-----------------------+
| Range | Increment | Units |
+==============+===========+=======================+
| -1000 - 1000 | 1 | milligauss per ampere |
+--------------+-----------+-----------------------+
.. _COMPASS_MOT_Z:
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 \(Offset per Amp or at Full Throttle\)
+--------------+-----------+-----------------------+
| Range | Increment | Units |
+==============+===========+=======================+
| -1000 - 1000 | 1 | milligauss per ampere |
+--------------+-----------+-----------------------+
.. _COMPASS_ORIENT:
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\.
+----------------------------------+
| Values |
+==================================+
| +-------+----------------------+ |
| | Value | Meaning | |
| +=======+======================+ |
| | 0 | None | |
| +-------+----------------------+ |
| | 1 | Yaw45 | |
| +-------+----------------------+ |
| | 2 | Yaw90 | |
| +-------+----------------------+ |
| | 3 | Yaw135 | |
| +-------+----------------------+ |
| | 4 | Yaw180 | |
| +-------+----------------------+ |
| | 5 | Yaw225 | |
| +-------+----------------------+ |
| | 6 | Yaw270 | |
| +-------+----------------------+ |
| | 7 | Yaw315 | |
| +-------+----------------------+ |
| | 8 | Roll180 | |
| +-------+----------------------+ |
| | 9 | Roll180Yaw45 | |
| +-------+----------------------+ |
| | 10 | Roll180Yaw90 | |
| +-------+----------------------+ |
| | 11 | Roll180Yaw135 | |
| +-------+----------------------+ |
| | 12 | Pitch180 | |
| +-------+----------------------+ |
| | 13 | Roll180Yaw225 | |
| +-------+----------------------+ |
| | 14 | Roll180Yaw270 | |
| +-------+----------------------+ |
| | 15 | Roll180Yaw315 | |
| +-------+----------------------+ |
| | 16 | Roll90 | |
| +-------+----------------------+ |
| | 17 | Roll90Yaw45 | |
| +-------+----------------------+ |
| | 18 | Roll90Yaw90 | |
| +-------+----------------------+ |
| | 19 | Roll90Yaw135 | |
| +-------+----------------------+ |
| | 20 | Roll270 | |
| +-------+----------------------+ |
| | 21 | Roll270Yaw45 | |
| +-------+----------------------+ |
| | 22 | Roll270Yaw90 | |
| +-------+----------------------+ |
| | 23 | Roll270Yaw135 | |
| +-------+----------------------+ |
| | 24 | Pitch90 | |
| +-------+----------------------+ |
| | 25 | Pitch270 | |
| +-------+----------------------+ |
| | 26 | Pitch180Yaw90 | |
| +-------+----------------------+ |
| | 27 | Pitch180Yaw270 | |
| +-------+----------------------+ |
| | 28 | Roll90Pitch90 | |
| +-------+----------------------+ |
| | 29 | Roll180Pitch90 | |
| +-------+----------------------+ |
| | 30 | Roll270Pitch90 | |
| +-------+----------------------+ |
| | 31 | Roll90Pitch180 | |
| +-------+----------------------+ |
| | 32 | Roll270Pitch180 | |
| +-------+----------------------+ |
| | 33 | Roll90Pitch270 | |
| +-------+----------------------+ |
| | 34 | Roll180Pitch270 | |
| +-------+----------------------+ |
| | 35 | Roll270Pitch270 | |
| +-------+----------------------+ |
| | 36 | Roll90Pitch180Yaw90 | |
| +-------+----------------------+ |
| | 37 | Roll90Yaw270 | |
| +-------+----------------------+ |
| | 38 | Yaw293Pitch68Roll180 | |
| +-------+----------------------+ |
| | 39 | Pitch315 | |
| +-------+----------------------+ |
| | 40 | Roll90Pitch315 | |
| +-------+----------------------+ |
| |
+----------------------------------+
.. _COMPASS_EXTERNAL:
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 PX4 and Pixhawk\. 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:
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
+------------+-----------+------------+
| Range | Increment | Units |
+============+===========+============+
| -400 - 400 | 1 | milligauss |
+------------+-----------+------------+
.. _COMPASS_OFS2_Y:
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
+------------+-----------+------------+
| Range | Increment | Units |
+============+===========+============+
| -400 - 400 | 1 | milligauss |
+------------+-----------+------------+
.. _COMPASS_OFS2_Z:
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
+------------+-----------+------------+
| Range | Increment | Units |
+============+===========+============+
| -400 - 400 | 1 | milligauss |
+------------+-----------+------------+
.. _COMPASS_MOT2_X:
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 \(Offset per Amp or at Full Throttle\)
+--------------+-----------+-----------------------+
| Range | Increment | Units |
+==============+===========+=======================+
| -1000 - 1000 | 1 | milligauss per ampere |
+--------------+-----------+-----------------------+
.. _COMPASS_MOT2_Y:
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 \(Offset per Amp or at Full Throttle\)
+--------------+-----------+-----------------------+
| Range | Increment | Units |
+==============+===========+=======================+
| -1000 - 1000 | 1 | milligauss per ampere |
+--------------+-----------+-----------------------+
.. _COMPASS_MOT2_Z:
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 \(Offset per Amp or at Full Throttle\)
+--------------+-----------+-----------------------+
| Range | Increment | Units |
+==============+===========+=======================+
| -1000 - 1000 | 1 | milligauss per ampere |
+--------------+-----------+-----------------------+
.. _COMPASS_PRIMARY:
COMPASS\_PRIMARY: Choose primary compass
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
If more than one compass is available\, this selects which compass is the primary\. When external compasses are connected\, they will be ordered first\. NOTE\: If no external compass is attached\, this parameter is ignored\.
+---------------------------+
| Values |
+===========================+
| +-------+---------------+ |
| | Value | Meaning | |
| +=======+===============+ |
| | 0 | FirstCompass | |
| +-------+---------------+ |
| | 1 | SecondCompass | |
| +-------+---------------+ |
| | 2 | ThirdCompass | |
| +-------+---------------+ |
| |
+---------------------------+
.. _COMPASS_OFS3_X:
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
+------------+-----------+------------+
| Range | Increment | Units |
+============+===========+============+
| -400 - 400 | 1 | milligauss |
+------------+-----------+------------+
.. _COMPASS_OFS3_Y:
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
+------------+-----------+------------+
| Range | Increment | Units |
+============+===========+============+
| -400 - 400 | 1 | milligauss |
+------------+-----------+------------+
.. _COMPASS_OFS3_Z:
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
+------------+-----------+------------+
| Range | Increment | Units |
+============+===========+============+
| -400 - 400 | 1 | milligauss |
+------------+-----------+------------+
.. _COMPASS_MOT3_X:
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 \(Offset per Amp or at Full Throttle\)
+--------------+-----------+-----------------------+
| Range | Increment | Units |
+==============+===========+=======================+
| -1000 - 1000 | 1 | milligauss per ampere |
+--------------+-----------+-----------------------+
.. _COMPASS_MOT3_Y:
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 \(Offset per Amp or at Full Throttle\)
+--------------+-----------+-----------------------+
| Range | Increment | Units |
+==============+===========+=======================+
| -1000 - 1000 | 1 | milligauss per ampere |
+--------------+-----------+-----------------------+
.. _COMPASS_MOT3_Z:
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 \(Offset per Amp or at Full Throttle\)
+--------------+-----------+-----------------------+
| Range | Increment | Units |
+==============+===========+=======================+
| -1000 - 1000 | 1 | milligauss per ampere |
+--------------+-----------+-----------------------+
.. _COMPASS_DEV_ID:
COMPASS\_DEV\_ID: Compass device id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compass device id\. Automatically detected\, do not set manually
.. _COMPASS_DEV_ID2:
COMPASS\_DEV\_ID2: Compass2 device id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Second compass\'s device id\. Automatically detected\, do not set manually
.. _COMPASS_DEV_ID3:
COMPASS\_DEV\_ID3: Compass3 device id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Third compass\'s device id\. Automatically detected\, do not set manually
.. _COMPASS_USE2:
COMPASS\_USE2: Compass2 used for yaw
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enable or disable the second compass for determining heading\.
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _COMPASS_ORIENT2:
COMPASS\_ORIENT2: Compass2 orientation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
The orientation of a second external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\.
+----------------------------------+
| Values |
+==================================+
| +-------+----------------------+ |
| | Value | Meaning | |
| +=======+======================+ |
| | 0 | None | |
| +-------+----------------------+ |
| | 1 | Yaw45 | |
| +-------+----------------------+ |
| | 2 | Yaw90 | |
| +-------+----------------------+ |
| | 3 | Yaw135 | |
| +-------+----------------------+ |
| | 4 | Yaw180 | |
| +-------+----------------------+ |
| | 5 | Yaw225 | |
| +-------+----------------------+ |
| | 6 | Yaw270 | |
| +-------+----------------------+ |
| | 7 | Yaw315 | |
| +-------+----------------------+ |
| | 8 | Roll180 | |
| +-------+----------------------+ |
| | 9 | Roll180Yaw45 | |
| +-------+----------------------+ |
| | 10 | Roll180Yaw90 | |
| +-------+----------------------+ |
| | 11 | Roll180Yaw135 | |
| +-------+----------------------+ |
| | 12 | Pitch180 | |
| +-------+----------------------+ |
| | 13 | Roll180Yaw225 | |
| +-------+----------------------+ |
| | 14 | Roll180Yaw270 | |
| +-------+----------------------+ |
| | 15 | Roll180Yaw315 | |
| +-------+----------------------+ |
| | 16 | Roll90 | |
| +-------+----------------------+ |
| | 17 | Roll90Yaw45 | |
| +-------+----------------------+ |
| | 18 | Roll90Yaw90 | |
| +-------+----------------------+ |
| | 19 | Roll90Yaw135 | |
| +-------+----------------------+ |
| | 20 | Roll270 | |
| +-------+----------------------+ |
| | 21 | Roll270Yaw45 | |
| +-------+----------------------+ |
| | 22 | Roll270Yaw90 | |
| +-------+----------------------+ |
| | 23 | Roll270Yaw135 | |
| +-------+----------------------+ |
| | 24 | Pitch90 | |
| +-------+----------------------+ |
| | 25 | Pitch270 | |
| +-------+----------------------+ |
| | 26 | Pitch180Yaw90 | |
| +-------+----------------------+ |
| | 27 | Pitch180Yaw270 | |
| +-------+----------------------+ |
| | 28 | Roll90Pitch90 | |
| +-------+----------------------+ |
| | 29 | Roll180Pitch90 | |
| +-------+----------------------+ |
| | 30 | Roll270Pitch90 | |
| +-------+----------------------+ |
| | 31 | Roll90Pitch180 | |
| +-------+----------------------+ |
| | 32 | Roll270Pitch180 | |
| +-------+----------------------+ |
| | 33 | Roll90Pitch270 | |
| +-------+----------------------+ |
| | 34 | Roll180Pitch270 | |
| +-------+----------------------+ |
| | 35 | Roll270Pitch270 | |
| +-------+----------------------+ |
| | 36 | Roll90Pitch180Yaw90 | |
| +-------+----------------------+ |
| | 37 | Roll90Yaw270 | |
| +-------+----------------------+ |
| | 38 | Yaw293Pitch68Roll180 | |
| +-------+----------------------+ |
| | 39 | Pitch315 | |
| +-------+----------------------+ |
| | 40 | Roll90Pitch315 | |
| +-------+----------------------+ |
| |
+----------------------------------+
.. _COMPASS_EXTERN2:
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 PX4 and Pixhawk\. 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:
COMPASS\_USE3: Compass3 used for yaw
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enable or disable the third compass for determining heading\.
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _COMPASS_ORIENT3:
COMPASS\_ORIENT3: Compass3 orientation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
The orientation of a third external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\.
+----------------------------------+
| Values |
+==================================+
| +-------+----------------------+ |
| | Value | Meaning | |
| +=======+======================+ |
| | 0 | None | |
| +-------+----------------------+ |
| | 1 | Yaw45 | |
| +-------+----------------------+ |
| | 2 | Yaw90 | |
| +-------+----------------------+ |
| | 3 | Yaw135 | |
| +-------+----------------------+ |
| | 4 | Yaw180 | |
| +-------+----------------------+ |
| | 5 | Yaw225 | |
| +-------+----------------------+ |
| | 6 | Yaw270 | |
| +-------+----------------------+ |
| | 7 | Yaw315 | |
| +-------+----------------------+ |
| | 8 | Roll180 | |
| +-------+----------------------+ |
| | 9 | Roll180Yaw45 | |
| +-------+----------------------+ |
| | 10 | Roll180Yaw90 | |
| +-------+----------------------+ |
| | 11 | Roll180Yaw135 | |
| +-------+----------------------+ |
| | 12 | Pitch180 | |
| +-------+----------------------+ |
| | 13 | Roll180Yaw225 | |
| +-------+----------------------+ |
| | 14 | Roll180Yaw270 | |
| +-------+----------------------+ |
| | 15 | Roll180Yaw315 | |
| +-------+----------------------+ |
| | 16 | Roll90 | |
| +-------+----------------------+ |
| | 17 | Roll90Yaw45 | |
| +-------+----------------------+ |
| | 18 | Roll90Yaw90 | |
| +-------+----------------------+ |
| | 19 | Roll90Yaw135 | |
| +-------+----------------------+ |
| | 20 | Roll270 | |
| +-------+----------------------+ |
| | 21 | Roll270Yaw45 | |
| +-------+----------------------+ |
| | 22 | Roll270Yaw90 | |
| +-------+----------------------+ |
| | 23 | Roll270Yaw135 | |
| +-------+----------------------+ |
| | 24 | Pitch90 | |
| +-------+----------------------+ |
| | 25 | Pitch270 | |
| +-------+----------------------+ |
| | 26 | Pitch180Yaw90 | |
| +-------+----------------------+ |
| | 27 | Pitch180Yaw270 | |
| +-------+----------------------+ |
| | 28 | Roll90Pitch90 | |
| +-------+----------------------+ |
| | 29 | Roll180Pitch90 | |
| +-------+----------------------+ |
| | 30 | Roll270Pitch90 | |
| +-------+----------------------+ |
| | 31 | Roll90Pitch180 | |
| +-------+----------------------+ |
| | 32 | Roll270Pitch180 | |
| +-------+----------------------+ |
| | 33 | Roll90Pitch270 | |
| +-------+----------------------+ |
| | 34 | Roll180Pitch270 | |
| +-------+----------------------+ |
| | 35 | Roll270Pitch270 | |
| +-------+----------------------+ |
| | 36 | Roll90Pitch180Yaw90 | |
| +-------+----------------------+ |
| | 37 | Roll90Yaw270 | |
| +-------+----------------------+ |
| | 38 | Yaw293Pitch68Roll180 | |
| +-------+----------------------+ |
| | 39 | Pitch315 | |
| +-------+----------------------+ |
| | 40 | Roll90Pitch315 | |
| +-------+----------------------+ |
| |
+----------------------------------+
.. _COMPASS_EXTERN3:
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 PX4 and Pixhawk\. 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\_DIA\_X: Compass soft\-iron diagonal X component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
DIA\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_DIA_Y:
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\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_DIA_Z:
COMPASS\_DIA\_Z: Compass soft\-iron diagonal Z component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
DIA\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_ODI_X:
COMPASS\_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\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_ODI_Y:
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\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_ODI_Z:
COMPASS\_ODI\_Z: Compass soft\-iron off\-diagonal Z component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
ODI\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_DIA2_X:
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\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_DIA2_Y:
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\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_DIA2_Z:
COMPASS\_DIA2\_Z: Compass2 soft\-iron diagonal Z component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
DIA\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_ODI2_X:
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\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_ODI2_Y:
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\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_ODI2_Z:
COMPASS\_ODI2\_Z: Compass2 soft\-iron off\-diagonal Z component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
ODI\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_DIA3_X:
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\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_DIA3_Y:
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\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_DIA3_Z:
COMPASS\_DIA3\_Z: Compass3 soft\-iron diagonal Z component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
DIA\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_ODI3_X:
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\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_ODI3_Y:
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\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_ODI3_Z:
COMPASS\_ODI3\_Z: Compass3 soft\-iron off\-diagonal Z component
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
ODI\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\]
.. _COMPASS_CAL_FIT:
COMPASS\_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\.
+--------+-------------------------+-----------+
| Range | Values | Increment |
+========+=========================+===========+
| 4 - 32 | +-------+-------------+ | 0.1 |
| | | Value | Meaning | | |
| | +=======+=============+ | |
| | | 4 | Very Strict | | |
| | +-------+-------------+ | |
| | | 8 | Strict | | |
| | +-------+-------------+ | |
| | | 16 | Default | | |
| | +-------+-------------+ | |
| | | 32 | Relaxed | | |
| | +-------+-------------+ | |
| | | |
+--------+-------------------------+-----------+
.. _COMPASS_OFFS_MAX:
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
+------------+-----------+
| Range | Increment |
+============+===========+
| 500 - 3000 | 1 |
+------------+-----------+
.. _COMPASS_TYPEMASK:
COMPASS\_TYPEMASK: Compass disable driver type mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This is a bitmask of driver types to disable\. If a driver type is set in this mask then that driver will not try to find a sensor at startup
+--------------------+
| Bitmask |
+====================+
| +-----+----------+ |
| | Bit | Meaning | |
| +=====+==========+ |
| | 0 | HMC5883 | |
| +-----+----------+ |
| | 1 | LSM303D | |
| +-----+----------+ |
| | 2 | AK8963 | |
| +-----+----------+ |
| | 3 | BMM150 | |
| +-----+----------+ |
| | 4 | LSM9DS1 | |
| +-----+----------+ |
| | 5 | LIS3MDL | |
| +-----+----------+ |
| | 6 | AK09916 | |
| +-----+----------+ |
| | 7 | IST8310 | |
| +-----+----------+ |
| | 8 | ICM20948 | |
| +-----+----------+ |
| | 9 | MMC3416 | |
| +-----+----------+ |
| | 11 | UAVCAN | |
| +-----+----------+ |
| | 12 | QMC5883 | |
| +-----+----------+ |
| |
+--------------------+
.. _COMPASS_FLTR_RNG:
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\.
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| 0 - 100 | 1 | percent |
+---------+-----------+---------+
.. _COMPASS_AUTO_ROT:
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 | |
| +-------+-------------+ |
| |
+-------------------------+
.. _COMPASS_SCALE:
COMPASS\_SCALE: Compass1 scale factor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Scaling factor for first compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done
+---------+
| Range |
+=========+
| 0 - 1.3 |
+---------+
.. _COMPASS_SCALE2:
COMPASS\_SCALE2: Compass2 scale factor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Scaling factor for 2nd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done
+---------+
| Range |
+=========+
| 0 - 1.3 |
+---------+
.. _COMPASS_SCALE3:
COMPASS\_SCALE3: Compass3 scale factor
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Scaling factor for 3rd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done
+---------+
| Range |
+=========+
| 0 - 1.3 |
+---------+
.. _parameters_COMPASS_PMOT:
COMPASS\_PMOT Parameters
------------------------
.. _COMPASS_PMOT_EN:
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:
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
+-------+-----------+
| Range | Increment |
+=======+===========+
| 0 - 2 | 0.01 |
+-------+-----------+
.. _COMPASS_PMOT1_X:
COMPASS\_PMOT1\_X: Compass per\-motor1 X
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compensation for X axis of motor1
.. _COMPASS_PMOT1_Y:
COMPASS\_PMOT1\_Y: Compass per\-motor1 Y
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compensation for Y axis of motor1
.. _COMPASS_PMOT1_Z:
COMPASS\_PMOT1\_Z: Compass per\-motor1 Z
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compensation for Z axis of motor1
.. _COMPASS_PMOT2_X:
COMPASS\_PMOT2\_X: Compass per\-motor2 X
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compensation for X axis of motor2
.. _COMPASS_PMOT2_Y:
COMPASS\_PMOT2\_Y: Compass per\-motor2 Y
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compensation for Y axis of motor2
.. _COMPASS_PMOT2_Z:
COMPASS\_PMOT2\_Z: Compass per\-motor2 Z
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compensation for Z axis of motor2
.. _COMPASS_PMOT3_X:
COMPASS\_PMOT3\_X: Compass per\-motor3 X
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compensation for X axis of motor3
.. _COMPASS_PMOT3_Y:
COMPASS\_PMOT3\_Y: Compass per\-motor3 Y
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compensation for Y axis of motor3
.. _COMPASS_PMOT3_Z:
COMPASS\_PMOT3\_Z: Compass per\-motor3 Z
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compensation for Z axis of motor3
.. _COMPASS_PMOT4_X:
COMPASS\_PMOT4\_X: Compass per\-motor4 X
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compensation for X axis of motor4
.. _COMPASS_PMOT4_Y:
COMPASS\_PMOT4\_Y: Compass per\-motor4 Y
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compensation for Y axis of motor4
.. _COMPASS_PMOT4_Z:
COMPASS\_PMOT4\_Z: Compass per\-motor4 Z
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Compensation for Z axis of motor4
.. _parameters_EK2_:
EK2\_ Parameters
----------------
.. _EK2_ENABLE:
EK2\_ENABLE: Enable EKF2
~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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 | RebootRequired |
+======================+================+
| +-------+----------+ | True |
| | Value | Meaning | | |
| +=======+==========+ | |
| | 0 | Disabled | | |
| +-------+----------+ | |
| | 1 | Enabled | | |
| +-------+----------+ | |
| | |
+----------------------+----------------+
.. _EK2_GPS_TYPE:
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:
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\.
+------------+-----------+-------------------+
| Range | Increment | Units |
+============+===========+===================+
| 0.05 - 5.0 | 0.05 | meters per second |
+------------+-----------+-------------------+
.. _EK2_VELD_M_NSE:
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\.
+------------+-----------+-------------------+
| Range | Increment | Units |
+============+===========+===================+
| 0.05 - 5.0 | 0.05 | meters per second |
+------------+-----------+-------------------+
.. _EK2_VEL_I_GATE:
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 willbe rejected\. Increasing it makes it more likely that bad measurements will be accepted\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK2_POSNE_M_NSE:
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\.
+------------+-----------+--------+
| Range | Increment | Units |
+============+===========+========+
| 0.1 - 10.0 | 0.1 | meters |
+------------+-----------+--------+
.. _EK2_POS_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK2_GLITCH_RAD:
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\.
+----------+-----------+--------+
| Range | Increment | Units |
+==========+===========+========+
| 10 - 100 | 5 | meters |
+----------+-----------+--------+
.. _EK2_GPS_DELAY:
EK2\_GPS\_DELAY: GPS measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This is the number of msec that the GPS measurements lag behind the inertial measurements\.
+---------+-----------+--------------+----------------+
| Range | Increment | Units | RebootRequired |
+=========+===========+==============+================+
| 0 - 250 | 10 | milliseconds | True |
+---------+-----------+--------------+----------------+
.. _EK2_ALT_SOURCE:
EK2\_ALT\_SOURCE: Primary altitude sensor source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This parameter controls the primary height sensor used by the EKF\. If the selected option cannot be used\, it will default to Baro as the primary height source\. Setting 0 will use the baro altitude at all times\. Setting 1 uses the range finder and is only available in combination with optical flow navigation \(EK2\_GPS\_TYPE \= 3\)\. Setting 2 uses GPS\. Setting 3 uses the range beacon data\. NOTE \- the EK2\_RNG\_USE\_HGT parameter can be used to switch to range\-finder when close to the ground\.
+------------------------------+----------------+
| Values | RebootRequired |
+==============================+================+
| +-------+------------------+ | True |
| | Value | Meaning | | |
| +=======+==================+ | |
| | 0 | Use Baro | | |
| +-------+------------------+ | |
| | 1 | Use Range Finder | | |
| +-------+------------------+ | |
| | 2 | Use GPS | | |
| +-------+------------------+ | |
| | 3 | Use Range Beacon | | |
| +-------+------------------+ | |
| | |
+------------------------------+----------------+
.. _EK2_ALT_M_NSE:
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\.
+------------+-----------+--------+
| Range | Increment | Units |
+============+===========+========+
| 0.1 - 10.0 | 0.1 | meters |
+------------+-----------+--------+
.. _EK2_HGT_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK2_HGT_DELAY:
EK2\_HGT\_DELAY: Height measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This is the number of msec that the Height measurements lag behind the inertial measurements\.
+---------+-----------+--------------+----------------+
| Range | Increment | Units | RebootRequired |
+=========+===========+==============+================+
| 0 - 250 | 10 | milliseconds | True |
+---------+-----------+--------------+----------------+
.. _EK2_MAG_M_NSE:
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\.
+------------+-----------+-------+
| Range | Increment | Units |
+============+===========+=======+
| 0.01 - 0.5 | 0.01 | gauss |
+------------+-----------+-------+
.. _EK2_MAG_CAL:
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 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\. 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 \: 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 EK2\_MAG\_MASK parameter\.
+-----------------------------------------+
| Values |
+=========================================+
| +-------+-----------------------------+ |
| | Value | Meaning | |
| +=======+=============================+ |
| | 0 | When flying | |
| +-------+-----------------------------+ |
| | 1 | When manoeuvring | |
| +-------+-----------------------------+ |
| | 2 | Never | |
| +-------+-----------------------------+ |
| | 3 | After first climb yaw reset | |
| +-------+-----------------------------+ |
| | 4 | Always | |
| +-------+-----------------------------+ |
| |
+-----------------------------------------+
.. _EK2_MAG_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK2_EAS_M_NSE:
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\.
+-----------+-----------+-------------------+
| Range | Increment | Units |
+===========+===========+===================+
| 0.5 - 5.0 | 0.1 | meters per second |
+-----------+-----------+-------------------+
.. _EK2_EAS_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK2_RNG_M_NSE:
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\.
+------------+-----------+--------+
| Range | Increment | Units |
+============+===========+========+
| 0.1 - 10.0 | 0.1 | meters |
+------------+-----------+--------+
.. _EK2_RNG_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK2_MAX_FLOW:
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
+-----------+-----------+--------------------+
| Range | Increment | Units |
+===========+===========+====================+
| 1.0 - 4.0 | 0.1 | radians per second |
+-----------+-----------+--------------------+
.. _EK2_FLOW_M_NSE:
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\.
+------------+-----------+--------------------+
| Range | Increment | Units |
+============+===========+====================+
| 0.05 - 1.0 | 0.05 | radians per second |
+------------+-----------+--------------------+
.. _EK2_FLOW_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK2_FLOW_DELAY:
EK2\_FLOW\_DELAY: Optical Flow measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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\.
+---------+-----------+--------------+----------------+
| Range | Increment | Units | RebootRequired |
+=========+===========+==============+================+
| 0 - 127 | 10 | milliseconds | True |
+---------+-----------+--------------+----------------+
.. _EK2_GYRO_P_NSE:
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\.
+--------------+-----------+--------------------+
| Range | Increment | Units |
+==============+===========+====================+
| 0.0001 - 0.1 | 0.0001 | radians per second |
+--------------+-----------+--------------------+
.. _EK2_ACC_P_NSE:
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\.
+------------+-----------+--------------------------+
| Range | Increment | Units |
+============+===========+==========================+
| 0.01 - 1.0 | 0.01 | meters per square second |
+------------+-----------+--------------------------+
.. _EK2_GBIAS_P_NSE:
EK2\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\.
+-----------------+---------------------------+
| Range | Units |
+=================+===========================+
| 0.00001 - 0.001 | radians per square second |
+-----------------+---------------------------+
.. _EK2_GSCL_P_NSE:
EK2\_GSCL\_P\_NSE: Rate gyro scale factor stability \(1\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This noise controls the rate of gyro scale factor learning\. Increasing it makes rate gyro scale factor estimation faster and noisier\.
+------------------+-------+
| Range | Units |
+==================+=======+
| 0.000001 - 0.001 | hertz |
+------------------+-------+
.. _EK2_ABIAS_P_NSE:
EK2\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\.
+-----------------+-------------------------+
| Range | Units |
+=================+=========================+
| 0.00001 - 0.001 | meters per cubic second |
+-----------------+-------------------------+
.. _EK2_WIND_P_NSE:
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\.
+------------+-----------+--------------------------+
| Range | Increment | Units |
+============+===========+==========================+
| 0.01 - 1.0 | 0.1 | meters per square second |
+------------+-----------+--------------------------+
.. _EK2_WIND_PSCALE:
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\.
+-----------+-----------+
| Range | Increment |
+===========+===========+
| 0.0 - 1.0 | 0.1 |
+-----------+-----------+
.. _EK2_GPS_CHECK:
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:
EK2\_IMU\_MASK: Bitmask of active IMUs
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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 | RebootRequired |
+=====================+================+
| +-----+-----------+ | True |
| | Bit | Meaning | | |
| +=====+===========+ | |
| | 0 | FirstIMU | | |
| +-----+-----------+ | |
| | 1 | SecondIMU | | |
| +-----+-----------+ | |
| | 2 | ThirdIMU | | |
| +-----+-----------+ | |
| | 3 | FourthIMU | | |
| +-----+-----------+ | |
| | 4 | FifthIMU | | |
| +-----+-----------+ | |
| | 5 | SixthIMU | | |
| +-----+-----------+ | |
| | |
+---------------------+----------------+
.. _EK2_CHECK_SCALE:
EK2\_CHECK\_SCALE: GPS accuracy check scaler \(\%\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\.
+----------+---------+
| Range | Units |
+==========+=========+
| 50 - 200 | percent |
+----------+---------+
.. _EK2_NOAID_M_NSE:
EK2\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\.
+------------+--------+
| Range | Units |
+============+========+
| 0.5 - 50.0 | meters |
+------------+--------+
.. _EK2_LOG_MASK:
EK2\_LOG\_MASK: EKF sensor logging IMU mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets the IMU mask of sensors to do full logging for
+---------------------+----------------+
| Bitmask | RebootRequired |
+=====================+================+
| +-----+-----------+ | True |
| | Bit | Meaning | | |
| +=====+===========+ | |
| | 0 | FirstIMU | | |
| +-----+-----------+ | |
| | 1 | SecondIMU | | |
| +-----+-----------+ | |
| | 2 | ThirdIMU | | |
| +-----+-----------+ | |
| | 3 | FourthIMU | | |
| +-----+-----------+ | |
| | 4 | FifthIMU | | |
| +-----+-----------+ | |
| | 5 | SixthIMU | | |
| +-----+-----------+ | |
| | |
+---------------------+----------------+
.. _EK2_YAW_M_NSE:
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\.
+------------+-----------+---------+
| Range | Increment | Units |
+============+===========+=========+
| 0.05 - 1.0 | 0.05 | radians |
+------------+-----------+---------+
.. _EK2_YAW_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK2_TAU_OUTPUT:
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\.
+---------+-----------+--------------+
| Range | Increment | Units |
+=========+===========+==============+
| 10 - 50 | 5 | centiseconds |
+---------+-----------+--------------+
.. _EK2_MAGE_P_NSE:
EK2\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\.
+----------------+------------------+
| Range | Units |
+================+==================+
| 0.00001 - 0.01 | gauss per second |
+----------------+------------------+
.. _EK2_MAGB_P_NSE:
EK2\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\.
+----------------+------------------+
| Range | Units |
+================+==================+
| 0.00001 - 0.01 | gauss per second |
+----------------+------------------+
.. _EK2_RNG_USE_HGT:
EK2\_RNG\_USE\_HGT: Range finder switch height percentage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND\_MAX\_CM parameter\. Set to \-1 to prevent range finder use\.
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| -1 - 70 | 1 | percent |
+---------+-----------+---------+
.. _EK2_TERR_GRAD:
EK2\_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
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 0.2 | 0.01 |
+---------+-----------+
.. _EK2_BCN_M_NSE:
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\.
+------------+-----------+--------+
| Range | Increment | Units |
+============+===========+========+
| 0.1 - 10.0 | 0.1 | meters |
+------------+-----------+--------+
.. _EK2_BCN_I_GTE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK2_BCN_DELAY:
EK2\_BCN\_DELAY: Range beacon measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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\.
+---------+-----------+--------------+----------------+
| Range | Increment | Units | RebootRequired |
+=========+===========+==============+================+
| 0 - 127 | 10 | milliseconds | True |
+---------+-----------+--------------+----------------+
.. _EK2_RNG_USE_SPD:
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\.
+-----------+-----------+-------------------+
| Range | Increment | Units |
+===========+===========+===================+
| 2.0 - 6.0 | 0.5 | meters per second |
+-----------+-----------+-------------------+
.. _EK2_MAG_MASK:
EK2\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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 | RebootRequired |
+=====================+================+
| +-----+-----------+ | True |
| | Bit | Meaning | | |
| +=====+===========+ | |
| | 0 | FirstEKF | | |
| +-----+-----------+ | |
| | 1 | SecondEKF | | |
| +-----+-----------+ | |
| | 2 | ThirdEKF | | |
| +-----+-----------+ | |
| | 3 | FourthEKF | | |
| +-----+-----------+ | |
| | 4 | FifthEKF | | |
| +-----+-----------+ | |
| | 5 | SixthEKF | | |
| +-----+-----------+ | |
| | |
+---------------------+----------------+
.. _EK2_OGN_HGT_MASK:
EK2\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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 | RebootRequired |
+==================================================+================+
| +-----+----------------------------------------+ | True |
| | Bit | Meaning | | |
| +=====+========================================+ | |
| | 0 | Correct when using Baro height | | |
| +-----+----------------------------------------+ | |
| | 1 | Correct when using range finder height | | |
| +-----+----------------------------------------+ | |
| | 2 | Apply corrections to local position | | |
| +-----+----------------------------------------+ | |
| | |
+--------------------------------------------------+----------------+
.. _EK2_MAG_EF_LIM:
EK2\_MAG\_EF\_LIM: EarthField error limit
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\.
+---------+------------+
| Range | Units |
+=========+============+
| 0 - 500 | milligauss |
+---------+------------+
.. _parameters_EK3_:
EK3\_ Parameters
----------------
.. _EK3_ENABLE:
EK3\_ENABLE: Enable EKF3
~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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 | RebootRequired |
+======================+================+
| +-------+----------+ | True |
| | Value | Meaning | | |
| +=======+==========+ | |
| | 0 | Disabled | | |
| +-------+----------+ | |
| | 1 | Enabled | | |
| +-------+----------+ | |
| | |
+----------------------+----------------+
.. _EK3_GPS_TYPE:
EK3\_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 | |
| +-------+-----------------------+ |
| |
+-----------------------------------+
.. _EK3_VELNE_M_NSE:
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\.
+------------+-----------+-------------------+
| Range | Increment | Units |
+============+===========+===================+
| 0.05 - 5.0 | 0.05 | meters per second |
+------------+-----------+-------------------+
.. _EK3_VELD_M_NSE:
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\.
+------------+-----------+-------------------+
| Range | Increment | Units |
+============+===========+===================+
| 0.05 - 5.0 | 0.05 | meters per second |
+------------+-----------+-------------------+
.. _EK3_VEL_I_GATE:
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 willbe rejected\. Increasing it makes it more likely that bad measurements will be accepted\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK3_POSNE_M_NSE:
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\.
+------------+-----------+--------+
| Range | Increment | Units |
+============+===========+========+
| 0.1 - 10.0 | 0.1 | meters |
+------------+-----------+--------+
.. _EK3_POS_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK3_GLITCH_RAD:
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\.
+----------+-----------+--------+
| Range | Increment | Units |
+==========+===========+========+
| 10 - 100 | 5 | meters |
+----------+-----------+--------+
.. _EK3_ALT_SOURCE:
EK3\_ALT\_SOURCE: Primary altitude sensor source
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This parameter controls the primary height sensor used by the EKF\. If the selected option cannot be used\, it will default to Baro as the primary height source\. Setting 0 will use the baro altitude at all times\. Setting 1 uses the range finder and is only available in combination with optical flow navigation \(EK3\_GPS\_TYPE \= 3\)\. Setting 2 uses GPS\. Setting 3 uses the range beacon data\. NOTE \- the EK3\_RNG\_USE\_HGT parameter can be used to switch to range\-finder when close to the ground\.
+------------------------------+----------------+
| Values | RebootRequired |
+==============================+================+
| +-------+------------------+ | True |
| | Value | Meaning | | |
| +=======+==================+ | |
| | 0 | Use Baro | | |
| +-------+------------------+ | |
| | 1 | Use Range Finder | | |
| +-------+------------------+ | |
| | 2 | Use GPS | | |
| +-------+------------------+ | |
| | 3 | Use Range Beacon | | |
| +-------+------------------+ | |
| | |
+------------------------------+----------------+
.. _EK3_ALT_M_NSE:
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\.
+------------+-----------+--------+
| Range | Increment | Units |
+============+===========+========+
| 0.1 - 10.0 | 0.1 | meters |
+------------+-----------+--------+
.. _EK3_HGT_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK3_HGT_DELAY:
EK3\_HGT\_DELAY: Height measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This is the number of msec that the Height measurements lag behind the inertial measurements\.
+---------+-----------+--------------+----------------+
| Range | Increment | Units | RebootRequired |
+=========+===========+==============+================+
| 0 - 250 | 10 | milliseconds | True |
+---------+-----------+--------------+----------------+
.. _EK3_MAG_M_NSE:
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\.
+------------+-----------+-------+
| Range | Increment | Units |
+============+===========+=======+
| 0.01 - 0.5 | 0.01 | gauss |
+------------+-----------+-------+
.. _EK3_MAG_CAL:
EK3\_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 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\. 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\.
+-----------------------------------------+----------------+
| Values | RebootRequired |
+=========================================+================+
| +-------+-----------------------------+ | True |
| | Value | Meaning | | |
| +=======+=============================+ | |
| | 0 | When flying | | |
| +-------+-----------------------------+ | |
| | 1 | When manoeuvring | | |
| +-------+-----------------------------+ | |
| | 2 | Never | | |
| +-------+-----------------------------+ | |
| | 3 | After first climb yaw reset | | |
| +-------+-----------------------------+ | |
| | 4 | Always | | |
| +-------+-----------------------------+ | |
| | |
+-----------------------------------------+----------------+
.. _EK3_MAG_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK3_EAS_M_NSE:
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\.
+-----------+-----------+-------------------+
| Range | Increment | Units |
+===========+===========+===================+
| 0.5 - 5.0 | 0.1 | meters per second |
+-----------+-----------+-------------------+
.. _EK3_EAS_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK3_RNG_M_NSE:
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\.
+------------+-----------+--------+
| Range | Increment | Units |
+============+===========+========+
| 0.1 - 10.0 | 0.1 | meters |
+------------+-----------+--------+
.. _EK3_RNG_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK3_MAX_FLOW:
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
+-----------+-----------+--------------------+
| Range | Increment | Units |
+===========+===========+====================+
| 1.0 - 4.0 | 0.1 | radians per second |
+-----------+-----------+--------------------+
.. _EK3_FLOW_M_NSE:
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\.
+------------+-----------+--------------------+
| Range | Increment | Units |
+============+===========+====================+
| 0.05 - 1.0 | 0.05 | radians per second |
+------------+-----------+--------------------+
.. _EK3_FLOW_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK3_FLOW_DELAY:
EK3\_FLOW\_DELAY: Optical Flow measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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\.
+---------+-----------+--------------+----------------+
| Range | Increment | Units | RebootRequired |
+=========+===========+==============+================+
| 0 - 250 | 10 | milliseconds | True |
+---------+-----------+--------------+----------------+
.. _EK3_GYRO_P_NSE:
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\.
+--------------+-----------+--------------------+
| Range | Increment | Units |
+==============+===========+====================+
| 0.0001 - 0.1 | 0.0001 | radians per second |
+--------------+-----------+--------------------+
.. _EK3_ACC_P_NSE:
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\.
+------------+-----------+--------------------------+
| Range | Increment | Units |
+============+===========+==========================+
| 0.01 - 1.0 | 0.01 | meters per square second |
+------------+-----------+--------------------------+
.. _EK3_GBIAS_P_NSE:
EK3\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\.
+-----------------+---------------------------+
| Range | Units |
+=================+===========================+
| 0.00001 - 0.001 | radians per square second |
+-----------------+---------------------------+
.. _EK3_ABIAS_P_NSE:
EK3\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\.
+-----------------+-------------------------+
| Range | Units |
+=================+=========================+
| 0.00001 - 0.001 | meters per cubic second |
+-----------------+-------------------------+
.. _EK3_WIND_P_NSE:
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\.
+------------+-----------+--------------------------+
| Range | Increment | Units |
+============+===========+==========================+
| 0.01 - 1.0 | 0.1 | meters per square second |
+------------+-----------+--------------------------+
.. _EK3_WIND_PSCALE:
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\.
+-----------+-----------+
| Range | Increment |
+===========+===========+
| 0.0 - 1.0 | 0.1 |
+-----------+-----------+
.. _EK3_GPS_CHECK:
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:
EK3\_IMU\_MASK: Bitmask of active IMUs
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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 | RebootRequired |
+=====================+================+
| +-----+-----------+ | True |
| | Bit | Meaning | | |
| +=====+===========+ | |
| | 0 | FirstIMU | | |
| +-----+-----------+ | |
| | 1 | SecondIMU | | |
| +-----+-----------+ | |
| | 2 | ThirdIMU | | |
| +-----+-----------+ | |
| | 3 | FourthIMU | | |
| +-----+-----------+ | |
| | 4 | FifthIMU | | |
| +-----+-----------+ | |
| | 5 | SixthIMU | | |
| +-----+-----------+ | |
| | |
+---------------------+----------------+
.. _EK3_CHECK_SCALE:
EK3\_CHECK\_SCALE: GPS accuracy check scaler \(\%\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\.
+----------+---------+
| Range | Units |
+==========+=========+
| 50 - 200 | percent |
+----------+---------+
.. _EK3_NOAID_M_NSE:
EK3\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\.
+------------+--------+
| Range | Units |
+============+========+
| 0.5 - 50.0 | meters |
+------------+--------+
.. _EK3_LOG_MASK:
EK3\_LOG\_MASK: EKF sensor logging IMU mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets the IMU mask of sensors to do full logging for
+---------------------+----------------+
| Bitmask | RebootRequired |
+=====================+================+
| +-----+-----------+ | True |
| | Bit | Meaning | | |
| +=====+===========+ | |
| | 0 | FirstIMU | | |
| +-----+-----------+ | |
| | 1 | SecondIMU | | |
| +-----+-----------+ | |
| | 2 | ThirdIMU | | |
| +-----+-----------+ | |
| | 3 | FourthIMU | | |
| +-----+-----------+ | |
| | 4 | FifthIMU | | |
| +-----+-----------+ | |
| | 5 | SixthIMU | | |
| +-----+-----------+ | |
| | |
+---------------------+----------------+
.. _EK3_YAW_M_NSE:
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\.
+------------+-----------+---------+
| Range | Increment | Units |
+============+===========+=========+
| 0.05 - 1.0 | 0.05 | radians |
+------------+-----------+---------+
.. _EK3_YAW_I_GATE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK3_TAU_OUTPUT:
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\.
+---------+-----------+--------------+
| Range | Increment | Units |
+=========+===========+==============+
| 10 - 50 | 5 | centiseconds |
+---------+-----------+--------------+
.. _EK3_MAGE_P_NSE:
EK3\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\.
+----------------+------------------+
| Range | Units |
+================+==================+
| 0.00001 - 0.01 | gauss per second |
+----------------+------------------+
.. _EK3_MAGB_P_NSE:
EK3\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\.
+----------------+------------------+
| Range | Units |
+================+==================+
| 0.00001 - 0.01 | gauss per second |
+----------------+------------------+
.. _EK3_RNG_USE_HGT:
EK3\_RNG\_USE\_HGT: Range finder switch height percentage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND\_MAX\_CM parameter\. Set to \-1 to prevent range finder use\.
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| -1 - 70 | 1 | percent |
+---------+-----------+---------+
.. _EK3_TERR_GRAD:
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
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 0.2 | 0.01 |
+---------+-----------+
.. _EK3_BCN_M_NSE:
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\.
+------------+-----------+--------+
| Range | Increment | Units |
+============+===========+========+
| 0.1 - 10.0 | 0.1 | meters |
+------------+-----------+--------+
.. _EK3_BCN_I_GTE:
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\.
+------------+-----------+
| Range | Increment |
+============+===========+
| 100 - 1000 | 25 |
+------------+-----------+
.. _EK3_BCN_DELAY:
EK3\_BCN\_DELAY: Range beacon measurement delay \(msec\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This is the number of msec that the range beacon measurements lag behind the inertial measurements\.
+---------+-----------+--------------+----------------+
| Range | Increment | Units | RebootRequired |
+=========+===========+==============+================+
| 0 - 250 | 10 | milliseconds | True |
+---------+-----------+--------------+----------------+
.. _EK3_RNG_USE_SPD:
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\.
+-----------+-----------+-------------------+
| Range | Increment | Units |
+===========+===========+===================+
| 2.0 - 6.0 | 0.5 | meters per second |
+-----------+-----------+-------------------+
.. _EK3_ACC_BIAS_LIM:
EK3\_ACC\_BIAS\_LIM: Accelerometer bias limit
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
The accelerometer bias state will be limited to \+\- this value
+-----------+-----------+--------------------------+
| Range | Increment | Units |
+===========+===========+==========================+
| 0.5 - 2.5 | 0.1 | meters per square second |
+-----------+-----------+--------------------------+
.. _EK3_MAG_MASK:
EK3\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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 | RebootRequired |
+=====================+================+
| +-----+-----------+ | True |
| | Bit | Meaning | | |
| +=====+===========+ | |
| | 0 | FirstEKF | | |
| +-----+-----------+ | |
| | 1 | SecondEKF | | |
| +-----+-----------+ | |
| | 2 | ThirdEKF | | |
| +-----+-----------+ | |
| | 3 | FourthEKF | | |
| +-----+-----------+ | |
| | 4 | FifthEKF | | |
| +-----+-----------+ | |
| | 5 | SixthEKF | | |
| +-----+-----------+ | |
| | |
+---------------------+----------------+
.. _EK3_OGN_HGT_MASK:
EK3\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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 | RebootRequired |
+==================================================+================+
| +-----+----------------------------------------+ | True |
| | 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:
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\.
+------------+-----------+-------------------+
| Range | Increment | Units |
+============+===========+===================+
| 0.05 - 0.5 | 0.05 | meters per second |
+------------+-----------+-------------------+
.. _EK3_VIS_VERR_MAX:
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\.
+-----------+-----------+-------------------+
| Range | Increment | Units |
+===========+===========+===================+
| 0.5 - 5.0 | 0.1 | meters per second |
+-----------+-----------+-------------------+
.. _EK3_WENC_VERR:
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\.
+------------+-----------+-------------------+
| Range | Increment | Units |
+============+===========+===================+
| 0.01 - 1.0 | 0.1 | meters per second |
+------------+-----------+-------------------+
.. _parameters_FENCE_:
FENCE\_ Parameters
------------------
.. _FENCE_ENABLE:
FENCE\_ENABLE: Fence enable\/disable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Allows you to enable \(1\) or disable \(0\) the fence functionality
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _FENCE_TYPE:
FENCE\_TYPE: Fence Type
~~~~~~~~~~~~~~~~~~~~~~~
Enabled fence types held as bitmask
+--------------------+----------------------------------+
| Bitmask | Values |
+====================+==================================+
| +-----+----------+ | +-------+----------------------+ |
| | Bit | Meaning | | | Value | Meaning | |
| +=====+==========+ | +=======+======================+ |
| | 0 | Altitude | | | 0 | None | |
| +-----+----------+ | +-------+----------------------+ |
| | 1 | Circle | | | 1 | Altitude | |
| +-----+----------+ | +-------+----------------------+ |
| | 2 | Polygon | | | 2 | Circle | |
| +-----+----------+ | +-------+----------------------+ |
| | | 3 | Altitude and Circle | |
| | +-------+----------------------+ |
| | | 4 | Polygon | |
| | +-------+----------------------+ |
| | | 5 | Altitude and Polygon | |
| | +-------+----------------------+ |
| | | 6 | Circle and Polygon | |
| | +-------+----------------------+ |
| | | 7 | All | |
| | +-------+----------------------+ |
| | |
+--------------------+----------------------------------+
.. _FENCE_ACTION:
FENCE\_ACTION: Fence Action
~~~~~~~~~~~~~~~~~~~~~~~~~~~
What action should be taken when fence is breached
+-------------------------+
| Values |
+=========================+
| +-------+-------------+ |
| | Value | Meaning | |
| +=======+=============+ |
| | 0 | Report Only | |
| +-------+-------------+ |
| | 1 | RTL or Land | |
| +-------+-------------+ |
| | 2 | Always land | |
| +-------+-------------+ |
| |
+-------------------------+
.. _FENCE_ALT_MAX:
FENCE\_ALT\_MAX: Fence Maximum Altitude
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Maximum altitude allowed before geofence triggers
+-----------+-----------+--------+
| Range | Increment | Units |
+===========+===========+========+
| 10 - 1000 | 1 | meters |
+-----------+-----------+--------+
.. _FENCE_RADIUS:
FENCE\_RADIUS: Circular Fence Radius
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Circle fence radius which when breached will cause an RTL
+------------+--------+
| Range | Units |
+============+========+
| 30 - 10000 | meters |
+------------+--------+
.. _FENCE_MARGIN:
FENCE\_MARGIN: Fence Margin
~~~~~~~~~~~~~~~~~~~~~~~~~~~
Distance that autopilot\'s should maintain from the fence to avoid a breach
+--------+--------+
| Range | Units |
+========+========+
| 1 - 10 | meters |
+--------+--------+
.. _FENCE_TOTAL:
FENCE\_TOTAL: Fence polygon point total
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Number of polygon points saved in eeprom \(do not update manually\)
+--------+
| Range |
+========+
| 1 - 20 |
+--------+
.. _FENCE_ALT_MIN:
FENCE\_ALT\_MIN: Fence Minimum Altitude
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Minimum altitude allowed before geofence triggers
+------------+-----------+--------+
| Range | Increment | Units |
+============+===========+========+
| -100 - 100 | 1 | meters |
+------------+-----------+--------+
.. _parameters_FHLD:
FHLD Parameters
---------------
.. _FHLD_XY_P:
FHLD\_XY\_P: FlowHold P gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
FlowHold \(horizontal\) P gain\.
+-----------+-----------+
| Range | Increment |
+===========+===========+
| 0.1 - 6.0 | 0.1 |
+-----------+-----------+
.. _FHLD_XY_I:
FHLD\_XY\_I: FlowHold I gain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
FlowHold \(horizontal\) I gain
+-------------+-----------+
| Range | Increment |
+=============+===========+
| 0.02 - 1.00 | 0.01 |
+-------------+-----------+
.. _FHLD_XY_IMAX:
FHLD\_XY\_IMAX: FlowHold Integrator Max
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
FlowHold \(horizontal\) integrator maximum
+----------+-----------+--------------+
| Range | Increment | Units |
+==========+===========+==============+
| 0 - 4500 | 10 | centidegrees |
+----------+-----------+--------------+
.. _FHLD_FLOW_MAX:
FHLD\_FLOW\_MAX: FlowHold Flow Rate Max
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Controls maximum apparent flow rate in flowhold
+-----------+
| Range |
+===========+
| 0.1 - 2.5 |
+-----------+
.. _FHLD_FILT_HZ:
FHLD\_FILT\_HZ: FlowHold Filter Frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Filter frequency for flow data
+---------+-------+
| Range | Units |
+=========+=======+
| 1 - 100 | hertz |
+---------+-------+
.. _FHLD_QUAL_MIN:
FHLD\_QUAL\_MIN: FlowHold Flow quality minimum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Minimum flow quality to use flow position hold
+---------+
| Range |
+=========+
| 0 - 255 |
+---------+
.. _FHLD_BRAKE_RATE:
FHLD\_BRAKE\_RATE: FlowHold Braking rate
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Controls deceleration rate on stick release
+--------+--------------------+
| Range | Units |
+========+====================+
| 1 - 30 | degrees per second |
+--------+--------------------+
.. _parameters_FLOW:
FLOW Parameters
---------------
.. _FLOW_ENABLE:
FLOW\_ENABLE: Optical flow enable\/disable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Setting this to Enabled\(1\) will enable optical flow\. Setting this to Disabled\(0\) will disable optical flow
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _FLOW_FXSCALER:
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\.
+-------------+-----------+
| Range | Increment |
+=============+===========+
| -200 - +200 | 1 |
+-------------+-----------+
.. _FLOW_FYSCALER:
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\.
+-------------+-----------+
| Range | Increment |
+=============+===========+
| -200 - +200 | 1 |
+-------------+-----------+
.. _FLOW_ORIENT_YAW:
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\.
+-----------------+-----------+
| Range | Increment |
+=================+===========+
| -18000 - +18000 | 1 |
+-----------------+-----------+
.. _FLOW_POS_X:
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\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _FLOW_POS_Y:
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\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _FLOW_POS_Z:
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\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _FLOW_ADDR:
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 - 127 |
+---------+
.. _parameters_FOLL:
FOLL Parameters
---------------
.. _FOLL_ENABLE:
FOLL\_ENABLE: Follow enable\/disable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Enabled\/disable following a target
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _FOLL_SYSID:
FOLL\_SYSID: Follow target\'s mavlink system id
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Follow target\'s mavlink system id
+---------+
| Range |
+=========+
| 0 - 255 |
+---------+
.. _FOLL_DIST_MAX:
FOLL\_DIST\_MAX: Follow distance maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Follow distance maximum\. targets further than this will be ignored
+----------+--------+
| Range | Units |
+==========+========+
| 1 - 1000 | meters |
+----------+--------+
.. _FOLL_OFS_TYPE:
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:
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
+------------+-----------+--------+
| Range | Increment | Units |
+============+===========+========+
| -100 - 100 | 1 | meters |
+------------+-----------+--------+
.. _FOLL_OFS_Y:
FOLL\_OFS\_Y: Follow offsets in meters east\/right
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Follow offsets in meters east\/right\. If positive\, this vehicle fly to the right or east of lead vehicle\. Depends on FOLL\_OFS\_TYPE
+------------+-----------+--------+
| Range | Increment | Units |
+============+===========+========+
| -100 - 100 | 1 | meters |
+------------+-----------+--------+
.. _FOLL_OFS_Z:
FOLL\_OFS\_Z: Follow offsets in meters down
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Follow offsets in meters down\. If positive\, this vehicle fly below the lead vehicle
+------------+-----------+--------+
| Range | Increment | Units |
+============+===========+========+
| -100 - 100 | 1 | meters |
+------------+-----------+--------+
.. _FOLL_YAW_BEHAVE:
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:
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
+-------------+-----------+
| Range | Increment |
+=============+===========+
| 0.01 - 1.00 | 0.01 |
+-------------+-----------+
.. _FOLL_ALT_TYPE:
FOLL\_ALT\_TYPE: Follow altitude type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Follow altitude type
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | absolute | |
| +-------+----------+ |
| | 1 | relative | |
| +-------+----------+ |
| |
+----------------------+
.. _parameters_GND_:
GND\_ Parameters
----------------
.. _GND_ABS_PRESS:
GND\_ABS\_PRESS: Absolute Pressure
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
calibrated ground pressure in Pascals
+----------+----------+-----------+--------+
| ReadOnly | Volatile | Increment | Units |
+==========+==========+===========+========+
| True | True | 1 | pascal |
+----------+----------+-----------+--------+
.. _GND_TEMP:
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\.
+----------+-----------+-----------------+
| Volatile | Increment | Units |
+==========+===========+=================+
| True | 1 | degrees Celsius |
+----------+-----------+-----------------+
.. _GND_ALT_OFFSET:
GND\_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 |
+-----------+--------+
.. _GND_PRIMARY:
GND\_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 | |
| +-------+-----------+ |
| |
+-----------------------+
.. _GND_EXT_BUS:
GND\_EXT\_BUS: External baro bus
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This selects the bus number for looking for an I2C barometer
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | -1 | Disabled | |
| +-------+----------+ |
| | 0 | Bus0 | |
| +-------+----------+ |
| | 1 | Bus1 | |
| +-------+----------+ |
| |
+----------------------+
.. _GND_SPEC_GRAV:
GND\_SPEC\_GRAV: Specific Gravity \(For water depth measurement\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This sets the specific gravity of the fluid when flying an underwater ROV\.
+--------------------------------+
| Values |
+================================+
| 1.0:Freshwater,1.024:Saltwater |
+--------------------------------+
.. _GND_ABS_PRESS2:
GND\_ABS\_PRESS2: Absolute Pressure
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
calibrated ground pressure in Pascals
+----------+----------+-----------+--------+
| ReadOnly | Volatile | Increment | Units |
+==========+==========+===========+========+
| True | True | 1 | pascal |
+----------+----------+-----------+--------+
.. _GND_ABS_PRESS3:
GND\_ABS\_PRESS3: Absolute Pressure
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
calibrated ground pressure in Pascals
+----------+----------+-----------+--------+
| ReadOnly | Volatile | Increment | Units |
+==========+==========+===========+========+
| True | True | 1 | pascal |
+----------+----------+-----------+--------+
.. _GND_FLTR_RNG:
GND\_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\.
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| 0 - 100 | 1 | percent |
+---------+-----------+---------+
.. _parameters_GPS_:
GPS\_ Parameters
----------------
.. _GPS_TYPE:
GPS\_TYPE: GPS type
~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
GPS type
+----------------------+----------------+
| Values | RebootRequired |
+======================+================+
| +-------+----------+ | True |
| | Value | Meaning | | |
| +=======+==========+ | |
| | 0 | None | | |
| +-------+----------+ | |
| | 1 | AUTO | | |
| +-------+----------+ | |
| | 2 | uBlox | | |
| +-------+----------+ | |
| | 3 | MTK | | |
| +-------+----------+ | |
| | 4 | MTK19 | | |
| +-------+----------+ | |
| | 5 | NMEA | | |
| +-------+----------+ | |
| | 6 | SiRF | | |
| +-------+----------+ | |
| | 7 | HIL | | |
| +-------+----------+ | |
| | 8 | SwiftNav | | |
| +-------+----------+ | |
| | 9 | UAVCAN | | |
| +-------+----------+ | |
| | 10 | SBF | | |
| +-------+----------+ | |
| | 11 | GSOF | | |
| +-------+----------+ | |
| | 13 | ERB | | |
| +-------+----------+ | |
| | 14 | MAV | | |
| +-------+----------+ | |
| | 15 | NOVA | | |
| +-------+----------+ | |
| | |
+----------------------+----------------+
.. _GPS_TYPE2:
GPS\_TYPE2: 2nd GPS type
~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
GPS type of 2nd GPS
+----------------------+----------------+
| Values | RebootRequired |
+======================+================+
| +-------+----------+ | True |
| | Value | Meaning | | |
| +=======+==========+ | |
| | 0 | None | | |
| +-------+----------+ | |
| | 1 | AUTO | | |
| +-------+----------+ | |
| | 2 | uBlox | | |
| +-------+----------+ | |
| | 3 | MTK | | |
| +-------+----------+ | |
| | 4 | MTK19 | | |
| +-------+----------+ | |
| | 5 | NMEA | | |
| +-------+----------+ | |
| | 6 | SiRF | | |
| +-------+----------+ | |
| | 7 | HIL | | |
| +-------+----------+ | |
| | 8 | SwiftNav | | |
| +-------+----------+ | |
| | 9 | UAVCAN | | |
| +-------+----------+ | |
| | 10 | SBF | | |
| +-------+----------+ | |
| | 11 | GSOF | | |
| +-------+----------+ | |
| | 13 | ERB | | |
| +-------+----------+ | |
| | 14 | MAV | | |
| +-------+----------+ | |
| | 15 | NOVA | | |
| +-------+----------+ | |
| | |
+----------------------+----------------+
.. _GPS_NAVFILTER:
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:
GPS\_AUTO\_SWITCH: Automatic Switchover Setting
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Automatic switchover to GPS reporting best lock
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | UseBest | |
| +-------+----------+ |
| | 2 | Blend | |
| +-------+----------+ |
| |
+----------------------+
.. _GPS_MIN_DGPS:
GPS\_MIN\_DGPS: Minimum Lock Type Accepted for DGPS
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode\.
+------------------------+----------------+
| Values | RebootRequired |
+========================+================+
| +-------+------------+ | True |
| | Value | Meaning | | |
| +=======+============+ | |
| | 0 | Any | | |
| +-------+------------+ | |
| | 50 | FloatRTK | | |
| +-------+------------+ | |
| | 100 | IntegerRTK | | |
| +-------+------------+ | |
| | |
+------------------------+----------------+
.. _GPS_SBAS_MODE:
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:
GPS\_MIN\_ELEV: Minimum elevation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets the minimum elevation of satellites above the horizon for them to be used for navigation\. Setting this to \-100 leaves the minimum elevation set to the GPS modules default\.
+-----------+---------+
| Range | Units |
+===========+=========+
| -100 - 90 | degrees |
+-----------+---------+
.. _GPS_INJECT_TO:
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:
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:
GPS\_RAW\_DATA: Raw data logging
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Handles logging raw data\; on uBlox chips that support raw data this will log RXM messages into dataflash log\; 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 | RebootRequired |
+======================================================+================+
| +-------+------------------------------------------+ | True |
| | Value | Meaning | | |
| +=======+==========================================+ | |
| | 0 | Ignore | | |
| +-------+------------------------------------------+ | |
| | 1 | Always log | | |
| +-------+------------------------------------------+ | |
| | 2 | Stop logging when disarmed (SBF only) | | |
| +-------+------------------------------------------+ | |
| | 5 | Only log every five samples (uBlox only) | | |
| +-------+------------------------------------------+ | |
| | |
+------------------------------------------------------+----------------+
.. _GPS_GNSS_MODE:
GPS\_GNSS\_MODE: GNSS system configuration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\)
+--------------------+---------------------------------------------+
| Bitmask | Values |
+====================+=============================================+
| +-----+----------+ | +-------+---------------------------------+ |
| | Bit | Meaning | | | Value | Meaning | |
| +=====+==========+ | +=======+=================================+ |
| | 0 | GPS | | | 0 | Leave as currently configured | |
| +-----+----------+ | +-------+---------------------------------+ |
| | 1 | SBAS | | | 1 | GPS-NoSBAS | |
| +-----+----------+ | +-------+---------------------------------+ |
| | 2 | Galileo | | | 3 | GPS+SBAS | |
| +-----+----------+ | +-------+---------------------------------+ |
| | 3 | Beidou | | | 4 | Galileo-NoSBAS | |
| +-----+----------+ | +-------+---------------------------------+ |
| | 4 | IMES | | | 6 | Galileo+SBAS | |
| +-----+----------+ | +-------+---------------------------------+ |
| | 5 | QZSS | | | 8 | Beidou | |
| +-----+----------+ | +-------+---------------------------------+ |
| | 6 | GLOSNASS | | | 51 | GPS+IMES+QZSS+SBAS (Japan Only) | |
| +-----+----------+ | +-------+---------------------------------+ |
| | | 64 | GLONASS | |
| | +-------+---------------------------------+ |
| | | 66 | GLONASS+SBAS | |
| | +-------+---------------------------------+ |
| | | 67 | GPS+GLONASS+SBAS | |
| | +-------+---------------------------------+ |
| | |
+--------------------+---------------------------------------------+
.. _GPS_SAVE_CFG:
GPS\_SAVE\_CFG: Save GPS configuration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Determines whether the configuration for this GPS should be written to non\-volatile memory on the GPS\. Currently working for UBlox 6 series and above\.
+-----------------------------------+
| Values |
+===================================+
| +-------+-----------------------+ |
| | Value | Meaning | |
| +=======+=======================+ |
| | 0 | Do not save config | |
| +-------+-----------------------+ |
| | 1 | Save config | |
| +-------+-----------------------+ |
| | 2 | Save only when needed | |
| +-------+-----------------------+ |
| |
+-----------------------------------+
.. _GPS_GNSS_MODE2:
GPS\_GNSS\_MODE2: GNSS system configuration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bitmask for what GNSS system to use on the second GPS \(all unchecked or zero to leave GPS as configured\)
+--------------------+---------------------------------------------+
| Bitmask | Values |
+====================+=============================================+
| +-----+----------+ | +-------+---------------------------------+ |
| | Bit | Meaning | | | Value | Meaning | |
| +=====+==========+ | +=======+=================================+ |
| | 0 | GPS | | | 0 | Leave as currently configured | |
| +-----+----------+ | +-------+---------------------------------+ |
| | 1 | SBAS | | | 1 | GPS-NoSBAS | |
| +-----+----------+ | +-------+---------------------------------+ |
| | 2 | Galileo | | | 3 | GPS+SBAS | |
| +-----+----------+ | +-------+---------------------------------+ |
| | 3 | Beidou | | | 4 | Galileo-NoSBAS | |
| +-----+----------+ | +-------+---------------------------------+ |
| | 4 | IMES | | | 6 | Galileo+SBAS | |
| +-----+----------+ | +-------+---------------------------------+ |
| | 5 | QZSS | | | 8 | Beidou | |
| +-----+----------+ | +-------+---------------------------------+ |
| | 6 | GLOSNASS | | | 51 | GPS+IMES+QZSS+SBAS (Japan Only) | |
| +-----+----------+ | +-------+---------------------------------+ |
| | | 64 | GLONASS | |
| | +-------+---------------------------------+ |
| | | 66 | GLONASS+SBAS | |
| | +-------+---------------------------------+ |
| | | 67 | GPS+GLONASS+SBAS | |
| | +-------+---------------------------------+ |
| | |
+--------------------+---------------------------------------------+
.. _GPS_AUTO_CONFIG:
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 | |
| +-------+----------------------------------+ |
| |
+----------------------------------------------+
.. _GPS_RATE_MS:
GPS\_RATE\_MS: GPS update rate in milliseconds
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Controls how often the GPS should provide a position update\. Lowering below 5Hz is not allowed
+----------+---------------------+--------------+
| Range | Values | Units |
+==========+=====================+==============+
| 50 - 200 | +-------+---------+ | milliseconds |
| | | Value | Meaning | | |
| | +=======+=========+ | |
| | | 100 | 10Hz | | |
| | +-------+---------+ | |
| | | 125 | 8Hz | | |
| | +-------+---------+ | |
| | | 200 | 5Hz | | |
| | +-------+---------+ | |
| | | |
+----------+---------------------+--------------+
.. _GPS_RATE_MS2:
GPS\_RATE\_MS2: GPS 2 update rate in milliseconds
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Controls how often the GPS should provide a position update\. Lowering below 5Hz is not allowed
+----------+---------------------+--------------+
| Range | Values | Units |
+==========+=====================+==============+
| 50 - 200 | +-------+---------+ | milliseconds |
| | | Value | Meaning | | |
| | +=======+=========+ | |
| | | 100 | 10Hz | | |
| | +-------+---------+ | |
| | | 125 | 8Hz | | |
| | +-------+---------+ | |
| | | 200 | 5Hz | | |
| | +-------+---------+ | |
| | | |
+----------+---------------------+--------------+
.. _GPS_POS1_X:
GPS\_POS1\_X: Antenna X position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _GPS_POS1_Y:
GPS\_POS1\_Y: Antenna Y position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _GPS_POS1_Z:
GPS\_POS1\_Z: Antenna Z position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _GPS_POS2_X:
GPS\_POS2\_X: Antenna X position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
X position of the second GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _GPS_POS2_Y:
GPS\_POS2\_Y: Antenna Y position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Y position of the second GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _GPS_POS2_Z:
GPS\_POS2\_Z: Antenna Z position offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Z position of the second GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _GPS_DELAY_MS:
GPS\_DELAY\_MS: GPS delay in milliseconds
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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 | RebootRequired |
+=========+==============+================+
| 0 - 250 | milliseconds | True |
+---------+--------------+----------------+
.. _GPS_DELAY_MS2:
GPS\_DELAY\_MS2: GPS 2 delay in milliseconds
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
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 | RebootRequired |
+=========+==============+================+
| 0 - 250 | milliseconds | True |
+---------+--------------+----------------+
.. _GPS_BLEND_MASK:
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
+---------------------+
| Bitmask |
+=====================+
| +-----+-----------+ |
| | Bit | Meaning | |
| +=====+===========+ |
| | 0 | Horiz Pos | |
| +-----+-----------+ |
| | 1 | Vert Pos | |
| +-----+-----------+ |
| | 2 | Speed | |
| +-----+-----------+ |
| |
+---------------------+
.. _GPS_BLEND_TC:
GPS\_BLEND\_TC: Blending time constant
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences\.
+------------+---------+
| Range | Units |
+============+=========+
| 5.0 - 30.0 | seconds |
+------------+---------+
.. _parameters_GRIP_:
GRIP\_ Parameters
-----------------
.. _GRIP_ENABLE:
GRIP\_ENABLE: Gripper Enable\/Disable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Gripper enable\/disable
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _GRIP_TYPE:
GRIP\_TYPE: Gripper Type
~~~~~~~~~~~~~~~~~~~~~~~~
Gripper enable\/disable
+---------------------+
| Values |
+=====================+
| +-------+---------+ |
| | Value | Meaning | |
| +=======+=========+ |
| | 0 | None | |
| +-------+---------+ |
| | 1 | Servo | |
| +-------+---------+ |
| | 2 | EPM | |
| +-------+---------+ |
| |
+---------------------+
.. _GRIP_GRAB:
GRIP\_GRAB: Gripper Grab PWM
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
PWM value in microseconds sent to Gripper to initiate grabbing the cargo
+-------------+---------------------+
| Range | Units |
+=============+=====================+
| 1000 - 2000 | PWM in microseconds |
+-------------+---------------------+
.. _GRIP_RELEASE:
GRIP\_RELEASE: Gripper Release PWM
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
PWM value in microseconds sent to Gripper to release the cargo
+-------------+---------------------+
| Range | Units |
+=============+=====================+
| 1000 - 2000 | PWM in microseconds |
+-------------+---------------------+
.. _GRIP_NEUTRAL:
GRIP\_NEUTRAL: Neutral PWM
~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
PWM value in microseconds sent to grabber when not grabbing or releasing
+-------------+---------------------+
| Range | Units |
+=============+=====================+
| 1000 - 2000 | PWM in microseconds |
+-------------+---------------------+
.. _GRIP_REGRAB:
GRIP\_REGRAB: Gripper Regrab interval
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Time in seconds that gripper will regrab the cargo to ensure grip has not weakened\; 0 to disable
+---------+---------+
| Range | Units |
+=========+=========+
| 0 - 255 | seconds |
+---------+---------+
.. _GRIP_UAVCAN_ID:
GRIP\_UAVCAN\_ID: EPM UAVCAN Hardpoint ID
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Refer to https\:\/\/docs\.zubax\.com\/opengrab\_epm\_v3\#UAVCAN\_interface
+---------+
| Range |
+=========+
| 0 - 255 |
+---------+
.. _parameters_H_:
H\_ Parameters
--------------
.. _H_COL_MID:
H\_COL\_MID: Collective Zero Thrust
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Swash servo position corresponding to zero collective pitch \(or zero thrust for asymmetric blades\)
+-------------+-----------+---------------------+
| Range | Increment | Units |
+=============+===========+=====================+
| 1000 - 2000 | 1 | PWM in microseconds |
+-------------+-----------+---------------------+
.. _H_COL_MIN:
H\_COL\_MIN: Collective Minimum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Minimum blade pitch\. Must be set for proper autorotation performance at best autorotation airspeed
+-------------+-----------+---------------------+
| Range | Increment | Units |
+=============+===========+=====================+
| 1000 - 2000 | 1 | PWM in microseconds |
+-------------+-----------+---------------------+
.. _H_COL_MAX:
H\_COL\_MAX: Collective Maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Maximum blade pitch\. Must be set to correspond with maximum available engine torque at full collective climb
+-------------+-----------+---------------------+
| Range | Increment | Units |
+=============+===========+=====================+
| 1000 - 2000 | 1 | PWM in microseconds |
+-------------+-----------+---------------------+
.. _H_COL_YAW:
H\_COL\_YAW: Collective\-Yaw Mixing
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Feed\-forward compensation to automatically add rudder input when collective pitch is increased\. Can be positive or negative depending on mechanics\.
+----------+-----------+
| Range | Increment |
+==========+===========+
| -10 - 10 | 0.1 |
+----------+-----------+
.. _H_CYCLIC_DEG:
H\_CYCLIC\_DEG: Cyclic Degrees
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Cyclic tilt angle of the swashplate\. Normally set this to whatever it takes to get 7\-8 degrees of cyclic pitch
+--------+-----------+---------+
| Range | Increment | Units |
+========+===========+=========+
| 0 - 45 | 1 | degrees |
+--------+-----------+---------+
.. _H_GOV_DROOP:
H\_GOV\_DROOP: Engine \#1 Droop Response
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
AutoThrottle governor droop response under load\, normal settings of 0\-100\%\. Higher value is quicker response but may cause surging\. Adjust this to be as aggressive as possible without getting surging or Rrpm over\-run when the governor engages\. For twin\-engine helicopters this will normally be tuned in static hover\, adjusting the droop response higher on each engine until governor hunting is noted\, then reduce the setting to where the governor is stable
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| 10 - 50 | 1 | percent |
+---------+-----------+---------+
.. _H_GOV_TORQUE:
H\_GOV\_TORQUE: Governor Torque Limiter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Adjusts the engine\'s torque rise percent on AutoThrottle during governor ramp\-up to full engage speed\. The torque rise will determine how fast the rotor speed will ramp up when the governor is turned on\. 30\% torque rise is a good starting setting to adjust the governor ramp\-in for piston and turbine engines
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| 10 - 60 | 1 | percent |
+---------+-----------+---------+
.. _H_GOV_TCGAIN:
H\_GOV\_TCGAIN: Engine \#1 TCGain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Percentage of throttle curve in governor output\. This provides a feed\-forward response to sudden loading or unloading of the rotor system\. If Rrpm drops below Rrpm Low Warning during full collective climb increase the throttle curve gain
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| 0 - 100 | 1 | percent |
+---------+-----------+---------+
.. _H_ROTOR_CRITICAL:
H\_ROTOR\_CRITICAL: Critical Rotor Speed
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Percentage of normal rotor speed where entry to autorotation becomes dangerous\. For helicopters with rotor speed sensor should be set to a percentage of the rotor rpm setting\. Even if governor is not used when a speed sensor is installed\, set the rotor rpm to normal headspeed then set critical to a percentage of normal rpm \(usually 90\%\)\. This can be considered the bottom of the warning arc for autorotation\. For helicopters without rotor speed sensor leave at 90\%\. Lack of a speed sensor results in using an estimated rotor speed instead of actual and is only marginally accurate
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| 50 - 95 | 1 | percent |
+---------+-----------+---------+
.. _H_ROTOR_RPM:
H\_ROTOR\_RPM: Headspeed RPM
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Set to the rotor rpm your helicopter runs in flight\. When a speed sensor is installed the rotor governor maintains this speed\. Also used for autorotation and for runup
+------------+-----------+
| Range | Increment |
+============+===========+
| 500 - 2500 | 10 |
+------------+-----------+
.. _H_ROTOR_RUNUP:
H\_ROTOR\_RUNUP: Rotor Runup Time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Time in seconds for the main rotor to reach full speed on AutoThrottle\. SET TO ZERO TO USE ROTOR SPEED SENSOR FOR RUNUP \(recommended\)\. If not using rotor speed sensor the rotor runup must be at least 1 second longer than the throttle ramp time\.\!WARNING\! \- when measured rotor speed is not used to determine runup\, setting rotor runup time to an excessively high value can cause rapid power recovery from manual throttle\, resulting in blade lag and potential rotor imbalance\. With all electric helicopters it is recommended to set rotor runup one second longer than throttle ramp time\. Piston and turbine helicopters must use a rotor speed sensor with this setting set to zero
+--------+---------+
| Range | Units |
+========+=========+
| 0 - 60 | seconds |
+--------+---------+
.. _H_SWASH_SETUP:
H\_SWASH\_SETUP: Swashplate Setup
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Manual servo override for swashplate setup only
+----------------------------+
| Values |
+============================+
| +-------+----------------+ |
| | Value | Meaning | |
| +=======+================+ |
| | 0 | Disabled | |
| +-------+----------------+ |
| | 1 | Passthrough | |
| +-------+----------------+ |
| | 2 | Max collective | |
| +-------+----------------+ |
| | 3 | Mid collective | |
| +-------+----------------+ |
| | 4 | Min collective | |
| +-------+----------------+ |
| |
+----------------------------+
.. _H_THROTTLE_IDLE:
H\_THROTTLE\_IDLE: Engine Ground Idle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
For piston or turbine engines in single\-engine helicopters only\. Use of manual throttle to set engine idle speed is recommended instead of using this setting\. For twin\-engine helicopters always set the engine ground idle speeds with the RC radio manual throttles as using this setting will not result in the same idle speed for both engines\. At ground idle the engines should idle with clutch disengaged\, and for engine start\. \!\!WARNING\!\! Using this setting requires disarm of the flight control to shut down engines on either single or twin\-engine helicopters\. Using this setting for electric helicopters could result in motor start when the flight control system is armed\. This is a legacy setting\, it will be deprecated in future versions of HeliPilot
+--------+-----------+
| Range | Increment |
+========+===========+
| 0 - 55 | 1 |
+--------+-----------+
.. _H_THROTTLE_P1:
H\_THROTTLE\_P1: Engine \#1 P1
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets the engine\'s throttle percent for the throttle curve with the swashplate all the way to its maximum negative or low collective pitch position\. This setting\, combined with THROTTLE\_P2 corresponds to engine flight idle\, rotor turning at rated speed with no engine load
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 100 | 1 |
+---------+-----------+
.. _H_THROTTLE_P2:
H\_THROTTLE\_P2: Engine \#1 P2
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets the engine\'s throttle percent for the throttle curve with the swashplate at 25\% of it\'s full collective travel\.This may or may not correspond to 25\% position of the collective stick\, depending on the range of negative pitch in the setup\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, the total range is 12 degrees\. 25\% of 12 degrees is 3 degrees\, so this setting would correspond to \+1 degree of positive pitch\. This setting\, combined with THROTTLE\_P1 corresponds to engine flight idle\, rotors turning at rated speed with no engine load
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 100 | 1 |
+---------+-----------+
.. _H_THROTTLE_P3:
H\_THROTTLE\_P3: Engine \#1 P3
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets the engine\'s throttle percent for the throttle curve with the swashplate at 50\% of it\'s full collective travel\.This may or may not correspond to 50\% position of the collective stick\, depending on the range of negative pitch in the setup\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, the total range is 12 degrees\. 50\% of 12 degrees is 6 degrees\, so this setting would correspond to \+4 degrees of positive pitch
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 100 | 1 |
+---------+-----------+
.. _H_THROTTLE_P4:
H\_THROTTLE\_P4: Engine \#1 P4
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets the engine\'s throttle percent for the throttle curve with the swashplate at 75\% of it\'s full collective travel\.This may or may not correspond to 75\% position of the collective stick\, depending on the range of negative pitch in the setup\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, the total range is 12 degrees\. 75\% of 12 degrees is 9 degrees\, so this setting would correspond to \+7 degrees of positive pitch
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 100 | 1 |
+---------+-----------+
.. _H_THROTTLE_P5:
H\_THROTTLE\_P5: Engine \#1 P5
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets the engine\'s throttle percent for the throttle curve with the swashplate at 100\% of it\'s full collective travel\, which is maximum positive pitch
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 100 | 1 |
+---------+-----------+
.. _H_THROTTLE_RAMP:
H\_THROTTLE\_RAMP: Throttle Ramp Time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Time in seconds for throttle to ramp from ground idle to AutoThrottle when manual throttle\(s\) are suddenly advanced from fuel cutoff to current throttle curve position\. This setting is used primarily by piston and turbine engines to smoothly engage the transmission clutch\. However\, it can also be used for electric ESC\'s that do not have an internal soft\-start\. If used with electric ESC with soft\-start it is recommended to set this to 1 second so as to not confuse the ESC\'s soft\-start function
+--------+---------+
| Range | Units |
+========+=========+
| 0 - 60 | seconds |
+--------+---------+
.. _H_NUM_ENGINES:
H\_NUM\_ENGINES: Number of Engines
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Set number of active throttle controls for either single\-engine or twin\-engine helicopters\. If twin\-engine is selected RC7 input is used for engine \#2 throttle control\. RC8 input is used for engine \#1 throttle control on both single and twin\-engine helicopters\. One of the SERVO outputs must be set to HeliThrottle2 to enable the throttle servo output for the second engine
+---------------------------+
| Values |
+===========================+
| +-------+---------------+ |
| | Value | Meaning | |
| +=======+===============+ |
| | 1 | Single Engine | |
| +-------+---------------+ |
| | 2 | Twin Engine | |
| +-------+---------------+ |
| |
+---------------------------+
.. _H_GOV2_DROOP:
H\_GOV2\_DROOP: Engine \#2 Droop Response
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
AutoThrottle governor droop response under load for engine \#2\, normal settings of 10\-100\%\. Higher value is quicker response but may cause surging\. Adjust this to be as aggressive as possible without getting surging or Rrpm over\-run when the governor engages\. For twin\-engine helicopters this will normally be tuned in static hover\, adjusting the droop response higher on each engine until governor hunting is noted\, then reduce the setting to where the governor is stable
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| 10 - 50 | 1 | percent |
+---------+-----------+---------+
.. _H_GOV2_TCGAIN:
H\_GOV2\_TCGAIN: Engine \#2 TCGain
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Percentage of throttle curve in governor output for engine \#2\. This provides a feed\-forward response to sudden loading or unloading of the rotor system\. If Rrpm drops below Rrpm Low Warning during full collective climb increase the throttle curve gain
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| 0 - 100 | 1 | percent |
+---------+-----------+---------+
.. _H_THROTTLE2_P1:
H\_THROTTLE2\_P1: Engine \#2 P1
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets the engine\'s throttle percent for the throttle curve with the swashplate all the way to its maximum negative or low collective pitch position for engine \#2\. This setting\, combined with THROTTLE2\_P2 corresponds to engine flight idle\, rotors turning at rated speed with no engine load
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 100 | 1 |
+---------+-----------+
.. _H_THROTTLE2_P2:
H\_THROTTLE2\_P2: Engine \#2 P2
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets the engine\'s throttle percent for the throttle curve with the swashplate at 25\% of it\'s full collective travel for engine \#2\.This may or may not correspond to 25\% position of the collective stick\, depending on the range of negative pitch in the setup\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, the total range is 12 degrees\. 25\% of 12 degrees is 3 degrees\, so this setting would correspond to \+1 degree of positive pitch\. This setting\, combined with THROTTLE2\_P1 corresponds to engine flight idle\, rotors turning at rated speed with no engine load
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 100 | 1 |
+---------+-----------+
.. _H_THROTTLE2_P3:
H\_THROTTLE2\_P3: Engine \#2 P3
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets the engine\'s throttle percent for the throttle curve with the swashplate at 50\% of it\'s full collective travel for engine \#2\.This may or may not correspond to 50\% position of the collective stick\, depending on the range of negative pitch in the setup\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, the total range is 12 degrees\. 50\% of 12 degrees is 6 degrees\, so this setting would correspond to \+4 degrees of positive pitch
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 100 | 1 |
+---------+-----------+
.. _H_THROTTLE2_P4:
H\_THROTTLE2\_P4: Engine \#2 P4
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets the engine\'s throttle percent for the throttle curve with the swashplate at 75\% of it\'s full collective travel for engine \#2\.This may or may not correspond to 75\% position of the collective stick\, depending on the range of negative pitch in the setup\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, the total range is 12 degrees\. 75\% of 12 degrees is 9 degrees\, so this setting would correspond to \+7 degrees of positive pitch
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 100 | 1 |
+---------+-----------+
.. _H_THROTTLE2_P5:
H\_THROTTLE2\_P5: Engine \#2 P5
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets the engine\'s throttle percent for the throttle curve with the swashplate at 100\% of it\'s full collective travel for engine \#2\, which is maximum positive pitch
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 100 | 1 |
+---------+-----------+
.. _parameters_H_SWASH:
H\_SWASH Parameters
-------------------
.. _H_SWASHTYPE:
H\_SWASHTYPE: Swashplate Type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
H3\_120\/H3\_140 plates have SERVO1 left side\, SERVO2 right side\, SERVO3 \(elevator\) in rear\. HR3\_120\/HR3\_140 have SERVO1 right side\, SERVO2 left side\, SERVO3 \(elevator\) in front\. For HR3 style swashplate use H3\_120\/H3\_140 and reverse servo and collective directions as necessary\. For all H3\_90 swashplates use H4\_90 and don\'t use servo output for the missing servo\. For H4\-90 SERVOS1 and 2 are left\/right respectively\, SERVOS3 and 4 are rear\/front respectively\. For H4\-45 SERVOS1 and 2 are LF\/RF\, SERVOS3 and 4 are LR\/RR\. For four\-servo swashplates fourth servo output must be enabled on a SERVO output labeled Cyclic4
+-------------------------+
| Values |
+=========================+
| +-------+-------------+ |
| | Value | Meaning | |
| +=======+=============+ |
| | 1 | H1 non-CPPM | |
| +-------+-------------+ |
| | 2 | H3_140 | |
| +-------+-------------+ |
| | 3 | H3_120 | |
| +-------+-------------+ |
| | 4 | H4_90 | |
| +-------+-------------+ |
| | 5 | H4_45 | |
| +-------+-------------+ |
| |
+-------------------------+
.. _H_SWASHCOLL_DIR:
H\_SWASHCOLL\_DIR: Collective Control Direction
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Direction collective moves to increase blade pitch\. 0 for Normal\, 1 for Reversed
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Normal | |
| +-------+----------+ |
| | 1 | Reversed | |
| +-------+----------+ |
| |
+----------------------+
.. _H_SWASHLINEAR:
H\_SWASHLINEAR: Linearize swashplate servo mechanical throw
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This setting is primarily for four\-servo swashplates to prevent servo binding\. It linearizes the swashplate servo\'s mechanical output to account for nonlinear output due to arm rotation\. This requires a specific mechanical setup procedure to work properly\. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 pwm as possible\. Leveling the swashplate can only be done through the swash links\. After the swashplate is level the pitch links should be adjusted at a value of 1500 pwm to achieve zero blade pitch
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _parameters_IM_:
IM\_ Parameters
---------------
.. _IM_STAB_COL_1:
IM\_STAB\_COL\_1: Stick At Bottom
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Collective pitch percentage at 0\% collective stick travel\. If the setup has a significant amount of negative pitch\, and the pilot desires to not use the negative pitch in Stabilize then set this higher than 0\%
+--------+-----------+---------+
| Range | Increment | Units |
+========+===========+=========+
| 0 - 30 | 1 | percent |
+--------+-----------+---------+
.. _IM_STAB_COL_2:
IM\_STAB\_COL\_2: Stick at 40\%
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Collective pitch percentage at 40\% collective stick travel\. This setting allows a custom collective curve to get the helicopter to hover at center stick travel in Stabilize flight mode to line up the collective control for smooth transition to the altitude controlled flight modes\. Setting this and the Stick at 60\% points closer together will flatten the collective curve at center stick travel to make collective management easier in Stabilize flight mode
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| 30 - 65 | 1 | percent |
+---------+-----------+---------+
.. _IM_STAB_COL_3:
IM\_STAB\_COL\_3: Stick at 60\%
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Collective pitch percentage at 60\% collective stick travel\. This setting allows a custom collective curve to get the helicopter to hover at center stick travel in Stabilize flight mode to line up the collective control for smooth transition to the altitude controlled flight modes\. Setting this and the Stick at 40\% points closer together will flatten the collective curve at center stick travel to make collective management easier in Stabilize flight mode
+---------+-----------+---------+
| Range | Increment | Units |
+=========+===========+=========+
| 50 - 85 | 1 | percent |
+---------+-----------+---------+
.. _IM_STAB_COL_4:
IM\_STAB\_COL\_4: Stick At Top
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Collective pitch percentage at 100\% collective stick travel\. This setting allows a custom collective maximum pitch in Stabilize flight mode\. If the setup has a significant amount of maximum collective and it is desired to not use the full the collective pitch in Stabilize\, set this to a lower value than 100\%
+----------+-----------+---------+
| Range | Increment | Units |
+==========+===========+=========+
| 85 - 100 | 1 | percent |
+----------+-----------+---------+
.. _IM_ACRO_COL_EXP:
IM\_ACRO\_COL\_EXP: Acro Mode Collective Expo
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Used to soften collective pitch inputs near center point in Acro mode\.
+-----------------------+
| Values |
+=======================+
| +-------+-----------+ |
| | Value | Meaning | |
| +=======+===========+ |
| | 0 | Disabled | |
| +-------+-----------+ |
| | 0.1 | Very Low | |
| +-------+-----------+ |
| | 0.2 | Low | |
| +-------+-----------+ |
| | 0.3 | Medium | |
| +-------+-----------+ |
| | 0.4 | High | |
| +-------+-----------+ |
| | 0.5 | Very High | |
| +-------+-----------+ |
| |
+-----------------------+
.. _parameters_INS_:
INS\_ Parameters
----------------
.. _INS_PRODUCT_ID:
INS\_PRODUCT\_ID: IMU Product ID
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
unused
.. _INS_GYROFFS_X:
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
+--------------------+
| Units |
+====================+
| radians per second |
+--------------------+
.. _INS_GYROFFS_Y:
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
+--------------------+
| Units |
+====================+
| radians per second |
+--------------------+
.. _INS_GYROFFS_Z:
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
+--------------------+
| Units |
+====================+
| radians per second |
+--------------------+
.. _INS_GYR2OFFS_X:
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
+--------------------+
| Units |
+====================+
| radians per second |
+--------------------+
.. _INS_GYR2OFFS_Y:
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
+--------------------+
| Units |
+====================+
| radians per second |
+--------------------+
.. _INS_GYR2OFFS_Z:
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
+--------------------+
| Units |
+====================+
| radians per second |
+--------------------+
.. _INS_GYR3OFFS_X:
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
+--------------------+
| Units |
+====================+
| radians per second |
+--------------------+
.. _INS_GYR3OFFS_Y:
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
+--------------------+
| Units |
+====================+
| radians per second |
+--------------------+
.. _INS_GYR3OFFS_Z:
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
+--------------------+
| Units |
+====================+
| radians per second |
+--------------------+
.. _INS_ACCSCAL_X:
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
+-----------+
| Range |
+===========+
| 0.8 - 1.2 |
+-----------+
.. _INS_ACCSCAL_Y:
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
+-----------+
| Range |
+===========+
| 0.8 - 1.2 |
+-----------+
.. _INS_ACCSCAL_Z:
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
+-----------+
| Range |
+===========+
| 0.8 - 1.2 |
+-----------+
.. _INS_ACCOFFS_X:
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
+------------+--------------------------+
| Range | Units |
+============+==========================+
| -3.5 - 3.5 | meters per square second |
+------------+--------------------------+
.. _INS_ACCOFFS_Y:
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
+------------+--------------------------+
| Range | Units |
+============+==========================+
| -3.5 - 3.5 | meters per square second |
+------------+--------------------------+
.. _INS_ACCOFFS_Z:
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
+------------+--------------------------+
| Range | Units |
+============+==========================+
| -3.5 - 3.5 | meters per square second |
+------------+--------------------------+
.. _INS_ACC2SCAL_X:
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
+-----------+
| Range |
+===========+
| 0.8 - 1.2 |
+-----------+
.. _INS_ACC2SCAL_Y:
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
+-----------+
| Range |
+===========+
| 0.8 - 1.2 |
+-----------+
.. _INS_ACC2SCAL_Z:
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
+-----------+
| Range |
+===========+
| 0.8 - 1.2 |
+-----------+
.. _INS_ACC2OFFS_X:
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
+------------+--------------------------+
| Range | Units |
+============+==========================+
| -3.5 - 3.5 | meters per square second |
+------------+--------------------------+
.. _INS_ACC2OFFS_Y:
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
+------------+--------------------------+
| Range | Units |
+============+==========================+
| -3.5 - 3.5 | meters per square second |
+------------+--------------------------+
.. _INS_ACC2OFFS_Z:
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
+------------+--------------------------+
| Range | Units |
+============+==========================+
| -3.5 - 3.5 | meters per square second |
+------------+--------------------------+
.. _INS_ACC3SCAL_X:
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
+-----------+
| Range |
+===========+
| 0.8 - 1.2 |
+-----------+
.. _INS_ACC3SCAL_Y:
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
+-----------+
| Range |
+===========+
| 0.8 - 1.2 |
+-----------+
.. _INS_ACC3SCAL_Z:
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
+-----------+
| Range |
+===========+
| 0.8 - 1.2 |
+-----------+
.. _INS_ACC3OFFS_X:
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
+------------+--------------------------+
| Range | Units |
+============+==========================+
| -3.5 - 3.5 | meters per square second |
+------------+--------------------------+
.. _INS_ACC3OFFS_Y:
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
+------------+--------------------------+
| Range | Units |
+============+==========================+
| -3.5 - 3.5 | meters per square second |
+------------+--------------------------+
.. _INS_ACC3OFFS_Z:
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
+------------+--------------------------+
| Range | Units |
+============+==========================+
| -3.5 - 3.5 | meters per square second |
+------------+--------------------------+
.. _INS_GYRO_FILTER:
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\. This option takes effect on the next reboot\. A value of zero means no filtering \(not recommended\!\)
+---------+-------+
| Range | Units |
+=========+=======+
| 0 - 127 | hertz |
+---------+-------+
.. _INS_ACCEL_FILTER:
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\. This option takes effect on the next reboot\. A value of zero means no filtering \(not recommended\!\)
+---------+-------+
| Range | Units |
+=========+=======+
| 0 - 127 | hertz |
+---------+-------+
.. _INS_USE:
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:
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:
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:
INS\_STILL\_THRESH: Stillness threshold for detecting if we are moving
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Threshold to tolerate vibration to determine if vehicle is motionless\. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing\. Total motionless is about 0\.05\. Suggested values\: Planes\/rover use 0\.1\, multirotors use 1\, tradHeli uses 5
+-----------+
| Range |
+===========+
| 0.05 - 50 |
+-----------+
.. _INS_GYR_CAL:
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:
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:
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:
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\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _INS_POS1_Y:
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\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _INS_POS1_Z:
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\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _INS_POS2_X:
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\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _INS_POS2_Y:
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\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _INS_POS2_Z:
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\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _INS_POS3_X:
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\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _INS_POS3_Y:
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\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _INS_POS3_Z:
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\.
+--------+
| Units |
+========+
| meters |
+--------+
.. _INS_GYR_ID:
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:
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:
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:
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:
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:
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:
INS\_FAST\_SAMPLE: Fast sampling mask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Mask of IMUs to enable fast sampling on\, if available
+---------------------+-------------------------------+
| Bitmask | Values |
+=====================+===============================+
| +-----+-----------+ | +-------+-------------------+ |
| | Bit | Meaning | | | Value | Meaning | |
| +=====+===========+ | +=======+===================+ |
| | 0 | FirstIMU | | | 1 | FirstIMUOnly | |
| +-----+-----------+ | +-------+-------------------+ |
| | 1 | SecondIMU | | | 3 | FirstAndSecondIMU | |
| +-----+-----------+ | +-------+-------------------+ |
| | 2 | ThirdIMU | | |
| +-----+-----------+ | |
| | |
+---------------------+-------------------------------+
.. _parameters_INS_LOG_:
INS\_LOG\_ Parameters
---------------------
.. _INS_LOG_BAT_CNT:
INS\_LOG\_BAT\_CNT: sample count per batch
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Number of samples to take when logging streams of IMU sensor readings\. Will be rounded down to a multiple of 32\.
+-----------+
| Increment |
+===========+
| 32 |
+-----------+
.. _INS_LOG_BAT_MASK:
INS\_LOG\_BAT\_MASK: Sensor Bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bitmap of which IMUs to log batch data for
+-------------------+-----------------------+
| Bitmask | Values |
+===================+=======================+
| +-----+---------+ | +-------+-----------+ |
| | Bit | Meaning | | | Value | Meaning | |
| +=====+=========+ | +=======+===========+ |
| | 0 | IMU1 | | | 0 | None | |
| +-----+---------+ | +-------+-----------+ |
| | 1 | IMU2 | | | 1 | First IMU | |
| +-----+---------+ | +-------+-----------+ |
| | 2 | IMU3 | | | 255 | All | |
| +-----+---------+ | +-------+-----------+ |
| | |
+-------------------+-----------------------+
.. _INS_LOG_BAT_OPT:
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) | |
| +-----+-------------------------------------------------------------+ |
| |
+-----------------------------------------------------------------------+
.. _INS_LOG_BAT_LGIN:
INS\_LOG\_BAT\_LGIN: logging interval
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Interval between pushing samples to the DataFlash log
+--------------+-----------+
| Units | Increment |
+==============+===========+
| milliseconds | 10 |
+--------------+-----------+
.. _INS_LOG_BAT_LGCT:
INS\_LOG\_BAT\_LGCT: logging count
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Number of samples to push to count every INS\_LOG\_BAT\_LGIN
+-----------+
| Increment |
+===========+
| 1 |
+-----------+
.. _parameters_INS_NOTCH_:
INS\_NOTCH\_ Parameters
-----------------------
.. _INS_NOTCH_ENABLE:
INS\_NOTCH\_ENABLE: Enable
~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enable notch filter
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _INS_NOTCH_FREQ:
INS\_NOTCH\_FREQ: Frequency
~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Notch center frequency in Hz
+----------+-------+
| Range | Units |
+==========+=======+
| 10 - 200 | hertz |
+----------+-------+
.. _INS_NOTCH_BW:
INS\_NOTCH\_BW: Bandwidth
~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Notch bandwidth in Hz
+--------+-------+
| Range | Units |
+========+=======+
| 5 - 50 | hertz |
+--------+-------+
.. _INS_NOTCH_ATT:
INS\_NOTCH\_ATT: Attenuation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Notch attenuation in dB
+--------+---------+
| Range | Units |
+========+=========+
| 5 - 30 | decibel |
+--------+---------+
.. _parameters_LGR_:
LGR\_ Parameters
----------------
.. _LGR_SERVO_RTRACT:
LGR\_SERVO\_RTRACT: Landing Gear Servo Retracted PWM Value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Servo PWM value in microseconds when landing gear is retracted
+-------------+-----------+---------------------+
| Range | Increment | Units |
+=============+===========+=====================+
| 1000 - 2000 | 1 | PWM in microseconds |
+-------------+-----------+---------------------+
.. _LGR_SERVO_DEPLOY:
LGR\_SERVO\_DEPLOY: Landing Gear Servo Deployed PWM Value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Servo PWM value in microseconds when landing gear is deployed
+-------------+-----------+---------------------+
| Range | Increment | Units |
+=============+===========+=====================+
| 1000 - 2000 | 1 | PWM in microseconds |
+-------------+-----------+---------------------+
.. _LGR_STARTUP:
LGR\_STARTUP: Landing Gear Startup position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Landing Gear Startup behaviour control
+-------------------------------+
| Values |
+===============================+
| +-------+-------------------+ |
| | Value | Meaning | |
| +=======+===================+ |
| | 0 | WaitForPilotInput | |
| +-------+-------------------+ |
| | 1 | Retract | |
| +-------+-------------------+ |
| | 2 | Deploy | |
| +-------+-------------------+ |
| |
+-------------------------------+
.. _parameters_LOG:
LOG Parameters
--------------
.. _LOG_BACKEND_TYPE:
LOG\_BACKEND\_TYPE: DataFlash Backend Storage type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
0 for None\, 1 for File\, 2 for dataflash mavlink\, 3 for both file and dataflash
+--------------------------------+
| Values |
+================================+
| +-------+--------------------+ |
| | Value | Meaning | |
| +=======+====================+ |
| | 0 | None | |
| +-------+--------------------+ |
| | 1 | File | |
| +-------+--------------------+ |
| | 2 | MAVLink | |
| +-------+--------------------+ |
| | 3 | BothFileAndMAVLink | |
| +-------+--------------------+ |
| |
+--------------------------------+
.. _LOG_FILE_BUFSIZE:
LOG\_FILE\_BUFSIZE: Maximum DataFlash File Backend buffer size \(in kilobytes\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The DataFlash\_File backend uses a buffer to store data before writing to the block device\. Raising this value may reduce \"gaps\" in your SD card logging\. This buffer size may be reduced depending on available memory\. PixHawk requires at least 4 kilobytes\. Maximum value available here is 64 kilobytes\.
.. _LOG_DISARMED:
LOG\_DISARMED: Enable logging while disarmed
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
If LOG\_DISARMED is set to 1 then logging will be enabled while disarmed\. This can make for very large logfiles but can help a lot when tracking down startup issues
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _LOG_REPLAY:
LOG\_REPLAY: Enable logging of information needed for Replay
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
If LOG\_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter\. 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:
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\.
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _LOG_MAV_BUFSIZE:
LOG\_MAV\_BUFSIZE: Maximum DataFlash MAVLink Backend buffer size
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum amount of memory to allocate to DataFlash\-over\-mavlink
+-----------+
| Units |
+===========+
| kilobytes |
+-----------+
.. _parameters_LOIT_:
LOIT\_ Parameters
-----------------
.. _LOIT_ANG_MAX:
LOIT\_ANG\_MAX: Loiter Angle Max
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Loiter maximum lean angle\. Set to zero for 2\/3 of PSC\_ANGLE\_MAX or ANGLE\_MAX
+--------+-----------+---------+
| Range | Increment | Units |
+========+===========+=========+
| 0 - 45 | 1 | degrees |
+--------+-----------+---------+
.. _LOIT_SPEED:
LOIT\_SPEED: Loiter Horizontal Maximum Speed
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Defines the maximum speed in cm\/s which the aircraft will travel horizontally while in loiter mode
+-----------+-----------+------------------------+
| Range | Increment | Units |
+===========+===========+========================+
| 20 - 2000 | 50 | centimeters per second |
+-----------+-----------+------------------------+
.. _LOIT_ACC_MAX:
LOIT\_ACC\_MAX: Loiter maximum correction acceleration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Loiter maximum correction acceleration in cm\/s\/s\. Higher values cause the copter to correct position errors more aggressively\.
+-----------+-----------+-------------------------------+
| Range | Increment | Units |
+===========+===========+===============================+
| 100 - 981 | 1 | centimeters per square second |
+-----------+-----------+-------------------------------+
.. _LOIT_BRK_ACCEL:
LOIT\_BRK\_ACCEL: Loiter braking acceleration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Loiter braking acceleration in cm\/s\/s\. Higher values stop the copter more quickly when the stick is centered\.
+----------+-----------+-------------------------------+
| Range | Increment | Units |
+==========+===========+===============================+
| 25 - 250 | 1 | centimeters per square second |
+----------+-----------+-------------------------------+
.. _LOIT_BRK_JERK:
LOIT\_BRK\_JERK: Loiter braking jerk
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Loiter braking jerk in cm\/s\/s\/s\. Higher values will remove braking faster if the pilot moves the sticks during a braking manuver\.
+------------+-----------+------------------------------+
| Range | Increment | Units |
+============+===========+==============================+
| 500 - 5000 | 1 | centimeters per cubic second |
+------------+-----------+------------------------------+
.. _LOIT_BRK_DELAY:
LOIT\_BRK\_DELAY: Loiter brake start delay \(in seconds\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Loiter brake start delay \(in seconds\)
+-------+-----------+---------+
| Range | Increment | Units |
+=======+===========+=========+
| 0 - 2 | 0.1 | seconds |
+-------+-----------+---------+
.. _parameters_MIS_:
MIS\_ Parameters
----------------
.. _MIS_TOTAL:
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\.
+-----------+-----------+
| Range | Increment |
+===========+===========+
| 0 - 32766 | 1 |
+-----------+-----------+
.. _MIS_RESTART:
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:
MIS\_OPTIONS: Mission options bitmask
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Bitmask of what options to use in missions\.
+-----------------------------------+
| Bitmask |
+===================================+
| +-----+-------------------------+ |
| | Bit | Meaning | |
| +=====+=========================+ |
| | 0 | Clear Mission on reboot | |
| +-----+-------------------------+ |
| |
+-----------------------------------+
.. _parameters_MNT:
MNT Parameters
--------------
.. _MNT_DEFLT_MODE:
MNT\_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 | |
| +-------+-------------------+ |
| |
+-------------------------------+
.. _MNT_RETRACT_X:
MNT\_RETRACT\_X: Mount roll angle when in retracted position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount roll angle when in retracted position
+------------------+-----------+---------+
| Range | Increment | Units |
+==================+===========+=========+
| -180.00 - 179.99 | 1 | degrees |
+------------------+-----------+---------+
.. _MNT_RETRACT_Y:
MNT\_RETRACT\_Y: Mount tilt\/pitch angle when in retracted position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount tilt\/pitch angle when in retracted position
+------------------+-----------+---------+
| Range | Increment | Units |
+==================+===========+=========+
| -180.00 - 179.99 | 1 | degrees |
+------------------+-----------+---------+
.. _MNT_RETRACT_Z:
MNT\_RETRACT\_Z: Mount yaw\/pan angle when in retracted position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount yaw\/pan angle when in retracted position
+------------------+-----------+---------+
| Range | Increment | Units |
+==================+===========+=========+
| -180.00 - 179.99 | 1 | degrees |
+------------------+-----------+---------+
.. _MNT_NEUTRAL_X:
MNT\_NEUTRAL\_X: Mount roll angle when in neutral position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount roll angle when in neutral position
+------------------+-----------+---------+
| Range | Increment | Units |
+==================+===========+=========+
| -180.00 - 179.99 | 1 | degrees |
+------------------+-----------+---------+
.. _MNT_NEUTRAL_Y:
MNT\_NEUTRAL\_Y: Mount tilt\/pitch angle when in neutral position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount tilt\/pitch angle when in neutral position
+------------------+-----------+---------+
| Range | Increment | Units |
+==================+===========+=========+
| -180.00 - 179.99 | 1 | degrees |
+------------------+-----------+---------+
.. _MNT_NEUTRAL_Z:
MNT\_NEUTRAL\_Z: Mount pan\/yaw angle when in neutral position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount pan\/yaw angle when in neutral position
+------------------+-----------+---------+
| Range | Increment | Units |
+==================+===========+=========+
| -180.00 - 179.99 | 1 | degrees |
+------------------+-----------+---------+
.. _MNT_STAB_ROLL:
MNT\_STAB\_ROLL: Stabilize mount\'s roll angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
enable roll stabilisation relative to Earth
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _MNT_STAB_TILT:
MNT\_STAB\_TILT: Stabilize mount\'s pitch\/tilt angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
enable tilt\/pitch stabilisation relative to Earth
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _MNT_STAB_PAN:
MNT\_STAB\_PAN: Stabilize mount pan\/yaw angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
enable pan\/yaw stabilisation relative to Earth
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _MNT_RC_IN_ROLL:
MNT\_RC\_IN\_ROLL: roll RC input channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
0 for none\, any other for the RC channel to be used to control roll movements
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 5 | RC5 | |
| +-------+----------+ |
| | 6 | RC6 | |
| +-------+----------+ |
| | 7 | RC7 | |
| +-------+----------+ |
| | 8 | RC8 | |
| +-------+----------+ |
| | 9 | RC9 | |
| +-------+----------+ |
| | 10 | RC10 | |
| +-------+----------+ |
| | 11 | RC11 | |
| +-------+----------+ |
| | 12 | RC12 | |
| +-------+----------+ |
| |
+----------------------+
.. _MNT_ANGMIN_ROL:
MNT\_ANGMIN\_ROL: Minimum roll angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Minimum physical roll angular position of mount\.
+----------------+-----------+--------------+
| Range | Increment | Units |
+================+===========+==============+
| -18000 - 17999 | 1 | centidegrees |
+----------------+-----------+--------------+
.. _MNT_ANGMAX_ROL:
MNT\_ANGMAX\_ROL: Maximum roll angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Maximum physical roll angular position of the mount
+----------------+-----------+--------------+
| Range | Increment | Units |
+================+===========+==============+
| -18000 - 17999 | 1 | centidegrees |
+----------------+-----------+--------------+
.. _MNT_RC_IN_TILT:
MNT\_RC\_IN\_TILT: tilt \(pitch\) RC input channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
0 for none\, any other for the RC channel to be used to control tilt \(pitch\) movements
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 5 | RC5 | |
| +-------+----------+ |
| | 6 | RC6 | |
| +-------+----------+ |
| | 7 | RC7 | |
| +-------+----------+ |
| | 8 | RC8 | |
| +-------+----------+ |
| | 9 | RC9 | |
| +-------+----------+ |
| | 10 | RC10 | |
| +-------+----------+ |
| | 11 | RC11 | |
| +-------+----------+ |
| | 12 | RC12 | |
| +-------+----------+ |
| |
+----------------------+
.. _MNT_ANGMIN_TIL:
MNT\_ANGMIN\_TIL: Minimum tilt angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Minimum physical tilt \(pitch\) angular position of mount\.
+----------------+-----------+--------------+
| Range | Increment | Units |
+================+===========+==============+
| -18000 - 17999 | 1 | centidegrees |
+----------------+-----------+--------------+
.. _MNT_ANGMAX_TIL:
MNT\_ANGMAX\_TIL: Maximum tilt angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Maximum physical tilt \(pitch\) angular position of the mount
+----------------+-----------+--------------+
| Range | Increment | Units |
+================+===========+==============+
| -18000 - 17999 | 1 | centidegrees |
+----------------+-----------+--------------+
.. _MNT_RC_IN_PAN:
MNT\_RC\_IN\_PAN: pan \(yaw\) RC input channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
0 for none\, any other for the RC channel to be used to control pan \(yaw\) movements
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 5 | RC5 | |
| +-------+----------+ |
| | 6 | RC6 | |
| +-------+----------+ |
| | 7 | RC7 | |
| +-------+----------+ |
| | 8 | RC8 | |
| +-------+----------+ |
| | 9 | RC9 | |
| +-------+----------+ |
| | 10 | RC10 | |
| +-------+----------+ |
| | 11 | RC11 | |
| +-------+----------+ |
| | 12 | RC12 | |
| +-------+----------+ |
| |
+----------------------+
.. _MNT_ANGMIN_PAN:
MNT\_ANGMIN\_PAN: Minimum pan angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Minimum physical pan \(yaw\) angular position of mount\.
+----------------+-----------+--------------+
| Range | Increment | Units |
+================+===========+==============+
| -18000 - 17999 | 1 | centidegrees |
+----------------+-----------+--------------+
.. _MNT_ANGMAX_PAN:
MNT\_ANGMAX\_PAN: Maximum pan angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Maximum physical pan \(yaw\) angular position of the mount
+----------------+-----------+--------------+
| Range | Increment | Units |
+================+===========+==============+
| -18000 - 17999 | 1 | centidegrees |
+----------------+-----------+--------------+
.. _MNT_JSTICK_SPD:
MNT\_JSTICK\_SPD: mount joystick speed
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
0 for position control\, small for low speeds\, 100 for max speed\. A good general value is 10 which gives a movement speed of 3 degrees per second\.
+---------+-----------+
| Range | Increment |
+=========+===========+
| 0 - 100 | 1 |
+---------+-----------+
.. _MNT_LEAD_RLL:
MNT\_LEAD\_RLL: Roll stabilization lead time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate\, compensating for servo delay\. Increase until the servo is responsive but doesn\'t overshoot\. Does nothing with pan stabilization enabled\.
+-----------+-----------+---------+
| Range | Increment | Units |
+===========+===========+=========+
| 0.0 - 0.2 | .005 | seconds |
+-----------+-----------+---------+
.. _MNT_LEAD_PTCH:
MNT\_LEAD\_PTCH: Pitch stabilization lead time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate\. Increase until the servo is responsive but doesn\'t overshoot\. Does nothing with pan stabilization enabled\.
+-----------+-----------+---------+
| Range | Increment | Units |
+===========+===========+=========+
| 0.0 - 0.2 | .005 | seconds |
+-----------+-----------+---------+
.. _MNT_TYPE:
MNT\_TYPE: Mount Type
~~~~~~~~~~~~~~~~~~~~~
Mount Type \(None\, Servo or MAVLink\)
+-----------------------------+----------------+
| Values | RebootRequired |
+=============================+================+
| +-------+-----------------+ | True |
| | Value | Meaning | | |
| +=======+=================+ | |
| | 0 | None | | |
| +-------+-----------------+ | |
| | 1 | Servo | | |
| +-------+-----------------+ | |
| | 2 | 3DR Solo | | |
| +-------+-----------------+ | |
| | 3 | Alexmos Serial | | |
| +-------+-----------------+ | |
| | 4 | SToRM32 MAVLink | | |
| +-------+-----------------+ | |
| | 5 | SToRM32 Serial | | |
| +-------+-----------------+ | |
| | |
+-----------------------------+----------------+
.. _MNT2_DEFLT_MODE:
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 | |
| +-------+-------------------+ |
| |
+-------------------------------+
.. _MNT2_RETRACT_X:
MNT2\_RETRACT\_X: Mount2 roll angle when in retracted position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount2 roll angle when in retracted position
+------------------+-----------+---------+
| Range | Increment | Units |
+==================+===========+=========+
| -180.00 - 179.99 | 1 | degrees |
+------------------+-----------+---------+
.. _MNT2_RETRACT_Y:
MNT2\_RETRACT\_Y: Mount2 tilt\/pitch angle when in retracted position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount2 tilt\/pitch angle when in retracted position
+------------------+-----------+---------+
| Range | Increment | Units |
+==================+===========+=========+
| -180.00 - 179.99 | 1 | degrees |
+------------------+-----------+---------+
.. _MNT2_RETRACT_Z:
MNT2\_RETRACT\_Z: Mount2 yaw\/pan angle when in retracted position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount2 yaw\/pan angle when in retracted position
+------------------+-----------+---------+
| Range | Increment | Units |
+==================+===========+=========+
| -180.00 - 179.99 | 1 | degrees |
+------------------+-----------+---------+
.. _MNT2_NEUTRAL_X:
MNT2\_NEUTRAL\_X: Mount2 roll angle when in neutral position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount2 roll angle when in neutral position
+------------------+-----------+---------+
| Range | Increment | Units |
+==================+===========+=========+
| -180.00 - 179.99 | 1 | degrees |
+------------------+-----------+---------+
.. _MNT2_NEUTRAL_Y:
MNT2\_NEUTRAL\_Y: Mount2 tilt\/pitch angle when in neutral position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount2 tilt\/pitch angle when in neutral position
+------------------+-----------+---------+
| Range | Increment | Units |
+==================+===========+=========+
| -180.00 - 179.99 | 1 | degrees |
+------------------+-----------+---------+
.. _MNT2_NEUTRAL_Z:
MNT2\_NEUTRAL\_Z: Mount2 pan\/yaw angle when in neutral position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount2 pan\/yaw angle when in neutral position
+------------------+-----------+---------+
| Range | Increment | Units |
+==================+===========+=========+
| -180.00 - 179.99 | 1 | degrees |
+------------------+-----------+---------+
.. _MNT2_STAB_ROLL:
MNT2\_STAB\_ROLL: Stabilize Mount2\'s roll angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
enable roll stabilisation relative to Earth
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _MNT2_STAB_TILT:
MNT2\_STAB\_TILT: Stabilize Mount2\'s pitch\/tilt angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
enable tilt\/pitch stabilisation relative to Earth
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _MNT2_STAB_PAN:
MNT2\_STAB\_PAN: Stabilize mount2 pan\/yaw angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
enable pan\/yaw stabilisation relative to Earth
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _MNT2_RC_IN_ROLL:
MNT2\_RC\_IN\_ROLL: Mount2\'s roll RC input channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
0 for none\, any other for the RC channel to be used to control roll movements
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 5 | RC5 | |
| +-------+----------+ |
| | 6 | RC6 | |
| +-------+----------+ |
| | 7 | RC7 | |
| +-------+----------+ |
| | 8 | RC8 | |
| +-------+----------+ |
| | 9 | RC9 | |
| +-------+----------+ |
| | 10 | RC10 | |
| +-------+----------+ |
| | 11 | RC11 | |
| +-------+----------+ |
| | 12 | RC12 | |
| +-------+----------+ |
| |
+----------------------+
.. _MNT2_ANGMIN_ROL:
MNT2\_ANGMIN\_ROL: Mount2\'s minimum roll angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount2\'s minimum physical roll angular position
+----------------+-----------+--------------+
| Range | Increment | Units |
+================+===========+==============+
| -18000 - 17999 | 1 | centidegrees |
+----------------+-----------+--------------+
.. _MNT2_ANGMAX_ROL:
MNT2\_ANGMAX\_ROL: Mount2\'s maximum roll angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount2\'s maximum physical roll angular position
+----------------+-----------+--------------+
| Range | Increment | Units |
+================+===========+==============+
| -18000 - 17999 | 1 | centidegrees |
+----------------+-----------+--------------+
.. _MNT2_RC_IN_TILT:
MNT2\_RC\_IN\_TILT: Mount2\'s tilt \(pitch\) RC input channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
0 for none\, any other for the RC channel to be used to control tilt \(pitch\) movements
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 5 | RC5 | |
| +-------+----------+ |
| | 6 | RC6 | |
| +-------+----------+ |
| | 7 | RC7 | |
| +-------+----------+ |
| | 8 | RC8 | |
| +-------+----------+ |
| | 9 | RC9 | |
| +-------+----------+ |
| | 10 | RC10 | |
| +-------+----------+ |
| | 11 | RC11 | |
| +-------+----------+ |
| | 12 | RC12 | |
| +-------+----------+ |
| |
+----------------------+
.. _MNT2_ANGMIN_TIL:
MNT2\_ANGMIN\_TIL: Mount2\'s minimum tilt angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount2\'s minimum physical tilt \(pitch\) angular position
+----------------+-----------+--------------+
| Range | Increment | Units |
+================+===========+==============+
| -18000 - 17999 | 1 | centidegrees |
+----------------+-----------+--------------+
.. _MNT2_ANGMAX_TIL:
MNT2\_ANGMAX\_TIL: Mount2\'s maximum tilt angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount2\'s maximum physical tilt \(pitch\) angular position
+----------------+-----------+--------------+
| Range | Increment | Units |
+================+===========+==============+
| -18000 - 17999 | 1 | centidegrees |
+----------------+-----------+--------------+
.. _MNT2_RC_IN_PAN:
MNT2\_RC\_IN\_PAN: Mount2\'s pan \(yaw\) RC input channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
0 for none\, any other for the RC channel to be used to control pan \(yaw\) movements
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 5 | RC5 | |
| +-------+----------+ |
| | 6 | RC6 | |
| +-------+----------+ |
| | 7 | RC7 | |
| +-------+----------+ |
| | 8 | RC8 | |
| +-------+----------+ |
| | 9 | RC9 | |
| +-------+----------+ |
| | 10 | RC10 | |
| +-------+----------+ |
| | 11 | RC11 | |
| +-------+----------+ |
| | 12 | RC12 | |
| +-------+----------+ |
| |
+----------------------+
.. _MNT2_ANGMIN_PAN:
MNT2\_ANGMIN\_PAN: Mount2\'s minimum pan angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Mount2\'s minimum physical pan \(yaw\) angular position
+----------------+-----------+--------------+
| Range | Increment | Units |
+================+===========+==============+
| -18000 - 17999 | 1 | centidegrees |
+----------------+-----------+--------------+
.. _MNT2_ANGMAX_PAN:
MNT2\_ANGMAX\_PAN: Mount2\'s maximum pan angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
MOunt2\'s maximum physical pan \(yaw\) angular position
+----------------+-----------+--------------+
| Range | Increment | Units |
+================+===========+==============+
| -18000 - 17999 | 1 | centidegrees |
+----------------+-----------+--------------+
.. _MNT2_LEAD_RLL:
MNT2\_LEAD\_RLL: Mount2\'s Roll stabilization lead time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate\, compensating for servo delay\. Increase until the servo is responsive but doesn\'t overshoot\. Does nothing with pan stabilization enabled\.
+-----------+-----------+---------+
| Range | Increment | Units |
+===========+===========+=========+
| 0.0 - 0.2 | .005 | seconds |
+-----------+-----------+---------+
.. _MNT2_LEAD_PTCH:
MNT2\_LEAD\_PTCH: Mount2\'s Pitch stabilization lead time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate\. Increase until the servo is responsive but doesn\'t overshoot\. Does nothing with pan stabilization enabled\.
+-----------+-----------+---------+
| Range | Increment | Units |
+===========+===========+=========+
| 0.0 - 0.2 | .005 | seconds |
+-----------+-----------+---------+
.. _MNT2_TYPE:
MNT2\_TYPE: Mount2 Type
~~~~~~~~~~~~~~~~~~~~~~~
Mount Type \(None\, Servo or MAVLink\)
+-----------------------------+
| Values |
+=============================+
| +-------+-----------------+ |
| | Value | Meaning | |
| +=======+=================+ |
| | 0 | None | |
| +-------+-----------------+ |
| | 1 | Servo | |
| +-------+-----------------+ |
| | 2 | 3DR Solo | |
| +-------+-----------------+ |
| | 3 | Alexmos Serial | |
| +-------+-----------------+ |
| | 4 | SToRM32 MAVLink | |
| +-------+-----------------+ |
| | 5 | SToRM32 Serial | |
| +-------+-----------------+ |
| |
+-----------------------------+
.. _parameters_MOT_:
MOT\_ Parameters
----------------
.. _MOT_YAW_HEADROOM:
MOT\_YAW\_HEADROOM: Matrix Yaw Min
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Yaw control is given at least this pwm in microseconds range
+---------+---------------------+
| Range | Units |
+=========+=====================+
| 0 - 500 | PWM in microseconds |
+---------+---------------------+
.. _MOT_THST_EXPO:
MOT\_THST\_EXPO: Thrust Curve Expo
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Motor thrust curve exponent \(from 0 for linear to 1\.0 for second order curve\)
+------------+
| Range |
+============+
| 0.25 - 0.8 |
+------------+
.. _MOT_SPIN_MAX:
MOT\_SPIN\_MAX: Motor Spin maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range
+---------------------------------+
| Values |
+=================================+
| 0.9:Low, 0.95:Default, 1.0:High |
+---------------------------------+
.. _MOT_BAT_VOLT_MAX:
MOT\_BAT\_VOLT\_MAX: Battery voltage compensation maximum voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Battery voltage compensation maximum voltage \(voltage above this will have no additional scaling effect on thrust\)\. Recommend 4\.4 \* cell count\, 0 \= Disabled
+--------+-------+
| Range | Units |
+========+=======+
| 6 - 35 | volt |
+--------+-------+
.. _MOT_BAT_VOLT_MIN:
MOT\_BAT\_VOLT\_MIN: Battery voltage compensation minimum voltage
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Battery voltage compensation minimum voltage \(voltage below this will have no additional scaling effect on thrust\)\. Recommend 3\.5 \* cell count\, 0 \= Disabled
+--------+-------+
| Range | Units |
+========+=======+
| 6 - 35 | volt |
+--------+-------+
.. _MOT_BAT_CURR_MAX:
MOT\_BAT\_CURR\_MAX: Motor Current Max
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Maximum current over which maximum throttle is limited \(0 \= Disabled\)
+---------+--------+
| Range | Units |
+=========+========+
| 0 - 200 | ampere |
+---------+--------+
.. _MOT_PWM_TYPE:
MOT\_PWM\_TYPE: Output PWM type
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This selects the output PWM type\, allowing for normal PWM continuous output\, OneShot\, brushed or DShot motor output
+------------------------+----------------+
| Values | RebootRequired |
+========================+================+
| +-------+------------+ | True |
| | Value | Meaning | | |
| +=======+============+ | |
| | 0 | Normal | | |
| +-------+------------+ | |
| | 1 | OneShot | | |
| +-------+------------+ | |
| | 2 | OneShot125 | | |
| +-------+------------+ | |
| | 3 | Brushed | | |
| +-------+------------+ | |
| | 4 | DShot150 | | |
| +-------+------------+ | |
| | 5 | DShot300 | | |
| +-------+------------+ | |
| | 6 | DShot600 | | |
| +-------+------------+ | |
| | 7 | DShot1200 | | |
| +-------+------------+ | |
| | |
+------------------------+----------------+
.. _MOT_PWM_MIN:
MOT\_PWM\_MIN: PWM output miniumum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets the min PWM output value in microseconds that will ever be output to the motors\, 0 \= use input RC3\_MIN
+----------+---------------------+
| Range | Units |
+==========+=====================+
| 0 - 2000 | PWM in microseconds |
+----------+---------------------+
.. _MOT_PWM_MAX:
MOT\_PWM\_MAX: PWM output maximum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets the max PWM value in microseconds that will ever be output to the motors\, 0 \= use input RC3\_MAX
+----------+---------------------+
| Range | Units |
+==========+=====================+
| 0 - 2000 | PWM in microseconds |
+----------+---------------------+
.. _MOT_SPIN_MIN:
MOT\_SPIN\_MIN: Motor Spin minimum
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range\. Should be higher than MOT\_SPIN\_ARM\.
+---------------------------------+
| Values |
+=================================+
| 0.0:Low, 0.15:Default, 0.3:High |
+---------------------------------+
.. _MOT_SPIN_ARM:
MOT\_SPIN\_ARM: Motor Spin armed
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range\. Should be lower than MOT\_SPIN\_MIN\.
+--------------------------------+
| Values |
+================================+
| 0.0:Low, 0.1:Default, 0.2:High |
+--------------------------------+
.. _MOT_BAT_CURR_TC:
MOT\_BAT\_CURR\_TC: Motor Current Max Time Constant
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Time constant used to limit the maximum current
+--------+---------+
| Range | Units |
+========+=========+
| 0 - 10 | seconds |
+--------+---------+
.. _MOT_THST_HOVER:
MOT\_THST\_HOVER: Thrust Hover Value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Motor thrust needed to hover expressed as a number from 0 to 1
+-----------+
| Range |
+===========+
| 0.2 - 0.8 |
+-----------+
.. _MOT_HOVER_LEARN:
MOT\_HOVER\_LEARN: Hover Value Learning
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enable\/Disable automatic learning of hover throttle
+--------------------------+
| Values |
+==========================+
| +-------+--------------+ |
| | Value | Meaning | |
| +=======+==============+ |
| | 0 | Disabled | |
| +-------+--------------+ |
| | 1 | Learn | |
| +-------+--------------+ |
| | 2 | LearnAndSave | |
| +-------+--------------+ |
| |
+--------------------------+
.. _MOT_SAFE_DISARM:
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_YAW_SV_ANGLE:
MOT\_YAW\_SV\_ANGLE: Yaw Servo Max Lean Angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Yaw servo\'s maximum lean angle
+--------+-----------+---------+
| Range | Increment | Units |
+========+===========+=========+
| 5 - 80 | 1 | degrees |
+--------+-----------+---------+
.. _MOT_SPOOL_TIME:
MOT\_SPOOL\_TIME: Spool up time
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Time in seconds to spool up the motors from zero to min throttle\.
+-------+-----------+---------+
| Range | Increment | Units |
+=======+===========+=========+
| 0 - 2 | 0.1 | seconds |
+-------+-----------+---------+
.. _MOT_BOOST_SCALE:
MOT\_BOOST\_SCALE: Motor boost scale
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This is a scaling factor for vehicles with a vertical booster motor used for extra lift\. It is used with electric multicopters that have an internal combusion booster motor for longer endurance\. The output to the BoostThrottle servo function is set to the current motor thottle times this scaling factor\. A higher scaling factor will put more of the load on the booster motor\. A value of 1 will set the BoostThrottle equal to the main throttle\.
+-------+-----------+
| Range | Increment |
+=======+===========+
| 0 - 5 | 0.1 |
+-------+-----------+
.. _MOT_BAT_IDX:
MOT\_BAT\_IDX: Battery compensation index
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Which battery monitor should be used for doing compensation
+----------------------------+
| Values |
+============================+
| +-------+----------------+ |
| | Value | Meaning | |
| +=======+================+ |
| | 0 | First battery | |
| +-------+----------------+ |
| | 1 | Second battery | |
| +-------+----------------+ |
| |
+----------------------------+
.. _parameters_NTF_:
NTF\_ Parameters
----------------
.. _NTF_LED_BRIGHT:
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_ENABLE:
NTF\_BUZZ\_ENABLE: Buzzer enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
Enable or disable the buzzer\. Only for Linux and PX4 based boards\.
+---------------------+
| Values |
+=====================+
| +-------+---------+ |
| | Value | Meaning | |
| +=======+=========+ |
| | 0 | Disable | |
| +-------+---------+ |
| | 1 | Enable | |
| +-------+---------+ |
| |
+---------------------+
.. _NTF_LED_OVERRIDE:
NTF\_LED\_OVERRIDE: Setup for MAVLink LED override
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| *Note: This parameter is for advanced users*
This sets up the board RGB LED for override by MAVLink\. Normal notify LED control is disabled
+---------------------+
| Values |
+=====================+
| +-------+---------+ |
| | Value | Meaning | |
| +=======+=========+ |
| | 0 | Disable | |
| +-------+---------+ |
| | 1 | Enable | |
| +-------+---------+ |
| |
+---------------------+
.. _NTF_DISPLAY_TYPE:
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 | |
| +-------+---------+ |
| |
+---------------------+
.. _NTF_OREO_THEME:
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:
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\!
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| |
+----------------------+
.. _NTF_LED_TYPES:
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 | Build in LED | |
| +-----+---------------------+ |
| | 1 | Internal ToshibaLED | |
| +-----+---------------------+ |
| | 2 | External ToshibaLED | |
| +-----+---------------------+ |
| | 3 | External PCA9685 | |
| +-----+---------------------+ |
| | 4 | Oreo LED | |
| +-----+---------------------+ |
| | 5 | UAVCAN | |
| +-----+---------------------+ |
| | 6 | NCP5623 External | |
| +-----+---------------------+ |
| | 7 | NCP5623 Internal | |
| +-----+---------------------+ |
| |
+-------------------------------+
.. _parameters_OSD:
OSD Parameters
--------------
.. _OSD_TYPE:
OSD\_TYPE: OSD type
~~~~~~~~~~~~~~~~~~~
OSD type
+---------------------+----------------+
| Values | RebootRequired |
+=====================+================+
| +-------+---------+ | True |
| | Value | Meaning | | |
| +=======+=========+ | |
| | 0 | None | | |
| +-------+---------+ | |
| | 1 | MAX7456 | | |
| +-------+---------+ | |
| | |
+---------------------+----------------+
.. _OSD_CHAN:
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_OPTIONS:
OSD\_OPTIONS: OSD Options
~~~~~~~~~~~~~~~~~~~~~~~~~
This sets options that change the display
+-------------------------------+
| Bitmask |
+===============================+
| +-----+---------------------+ |
| | Bit | Meaning | |
| +=====+=====================+ |
| | 0 | UseDecimalPack | |
| +-----+---------------------+ |
| | 1 | InvertedWindPointer | |
| +-----+---------------------+ |
| | 2 | InvertedAHRoll | |
| +-----+---------------------+ |
| |
+-------------------------------+
.. _OSD_FONT:
OSD\_FONT: OSD Font
~~~~~~~~~~~~~~~~~~~
This sets which OSD font to use\. It is an integer from 0 to the number of fonts available
+----------------+
| RebootRequired |
+================+
| True |
+----------------+
.. _OSD_V_OFFSET:
OSD\_V\_OFFSET: OSD vertical offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets vertical offset of the osd inside image
+--------+----------------+
| Range | RebootRequired |
+========+================+
| 0 - 31 | True |
+--------+----------------+
.. _OSD_H_OFFSET:
OSD\_H\_OFFSET: OSD horizontal offset
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets horizontal offset of the osd inside image
+--------+----------------+
| Range | RebootRequired |
+========+================+
| 0 - 63 | True |
+--------+----------------+
.. _OSD_W_RSSI:
OSD\_W\_RSSI: RSSI warn level \(in \%\)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Set level at which RSSI item will flash
+--------+
| Range |
+========+
| 0 - 99 |
+--------+
.. _OSD_W_NSAT:
OSD\_W\_NSAT: NSAT warn level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Set level at which NSAT item will flash
+--------+
| Range |
+========+
| 1 - 30 |
+--------+
.. _OSD_W_BATVOLT:
OSD\_W\_BATVOLT: BAT\_VOLT warn level
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Set level at which BAT\_VOLT item will flash
+---------+
| Range |
+=========+
| 0 - 100 |
+---------+
.. _OSD_UNITS:
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:
OSD\_MSG\_TIME: Message display duration in seconds
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Sets message duration seconds
+--------+
| Range |
+========+
| 1 - 20 |
+--------+
.. _parameters_OSD1_:
OSD1\_ Parameters
-----------------
.. _OSD1_ENABLE:
OSD1\_ENABLE: Enable screen
~~~~~~~~~~~~~~~~~~~~~~~~~~~
Enable this screen
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _OSD1_CHAN_MIN:
OSD1\_CHAN\_MIN: Transmitter switch screen minimum pwm
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This sets the PWM lower limit for this screen
+------------+
| Range |
+============+
| 900 - 2100 |
+------------+
.. _OSD1_CHAN_MAX:
OSD1\_CHAN\_MAX: Transmitter switch screen maximum pwm
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This sets the PWM upper limit for this screen
+------------+
| Range |
+============+
| 900 - 2100 |
+------------+
.. _parameters_OSD1_ALTITUDE:
OSD1\_ALTITUDE Parameters
-------------------------
.. _OSD1_ALTITUDE_EN:
OSD1\_ALTITUDE\_EN: Enable
~~~~~~~~~~~~~~~~~~~~~~~~~~
Enable setting
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _OSD1_ALTITUDE_X:
OSD1\_ALTITUDE\_X: X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Horizontal position on screen
+--------+
| Range |
+========+
| 0 - 29 |
+--------+
.. _OSD1_ALTITUDE_Y:
OSD1\_ALTITUDE\_Y: Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vertical position on screen
+--------+
| Range |
+========+
| 0 - 15 |
+--------+
.. _parameters_OSD1_BATUSED:
OSD1\_BATUSED Parameters
------------------------
.. _OSD1_BATUSED_EN:
OSD1\_BATUSED\_EN: Enable
~~~~~~~~~~~~~~~~~~~~~~~~~
Enable setting
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _OSD1_BATUSED_X:
OSD1\_BATUSED\_X: X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Horizontal position on screen
+--------+
| Range |
+========+
| 0 - 29 |
+--------+
.. _OSD1_BATUSED_Y:
OSD1\_BATUSED\_Y: Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vertical position on screen
+--------+
| Range |
+========+
| 0 - 15 |
+--------+
.. _parameters_OSD1_BATVOLT:
OSD1\_BATVOLT Parameters
------------------------
.. _OSD1_BATVOLT_EN:
OSD1\_BATVOLT\_EN: Enable
~~~~~~~~~~~~~~~~~~~~~~~~~
Enable setting
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _OSD1_BATVOLT_X:
OSD1\_BATVOLT\_X: X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Horizontal position on screen
+--------+
| Range |
+========+
| 0 - 29 |
+--------+
.. _OSD1_BATVOLT_Y:
OSD1\_BATVOLT\_Y: Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vertical position on screen
+--------+
| Range |
+========+
| 0 - 15 |
+--------+
.. _parameters_OSD1_BLHAMPS:
OSD1\_BLHAMPS Parameters
------------------------
.. _OSD1_BLHAMPS_EN:
OSD1\_BLHAMPS\_EN: Enable
~~~~~~~~~~~~~~~~~~~~~~~~~
Enable setting
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _OSD1_BLHAMPS_X:
OSD1\_BLHAMPS\_X: X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Horizontal position on screen
+--------+
| Range |
+========+
| 0 - 29 |
+--------+
.. _OSD1_BLHAMPS_Y:
OSD1\_BLHAMPS\_Y: Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vertical position on screen
+--------+
| Range |
+========+
| 0 - 15 |
+--------+
.. _parameters_OSD1_BLHRPM:
OSD1\_BLHRPM Parameters
-----------------------
.. _OSD1_BLHRPM_EN:
OSD1\_BLHRPM\_EN: Enable
~~~~~~~~~~~~~~~~~~~~~~~~
Enable setting
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _OSD1_BLHRPM_X:
OSD1\_BLHRPM\_X: X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~
Horizontal position on screen
+--------+
| Range |
+========+
| 0 - 29 |
+--------+
.. _OSD1_BLHRPM_Y:
OSD1\_BLHRPM\_Y: Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vertical position on screen
+--------+
| Range |
+========+
| 0 - 15 |
+--------+
.. _parameters_OSD1_BLHTEMP:
OSD1\_BLHTEMP Parameters
------------------------
.. _OSD1_BLHTEMP_EN:
OSD1\_BLHTEMP\_EN: Enable
~~~~~~~~~~~~~~~~~~~~~~~~~
Enable setting
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _OSD1_BLHTEMP_X:
OSD1\_BLHTEMP\_X: X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Horizontal position on screen
+--------+
| Range |
+========+
| 0 - 29 |
+--------+
.. _OSD1_BLHTEMP_Y:
OSD1\_BLHTEMP\_Y: Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vertical position on screen
+--------+
| Range |
+========+
| 0 - 15 |
+--------+
.. _parameters_OSD1_CURRENT:
OSD1\_CURRENT Parameters
------------------------
.. _OSD1_CURRENT_EN:
OSD1\_CURRENT\_EN: Enable
~~~~~~~~~~~~~~~~~~~~~~~~~
Enable setting
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _OSD1_CURRENT_X:
OSD1\_CURRENT\_X: X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Horizontal position on screen
+--------+
| Range |
+========+
| 0 - 29 |
+--------+
.. _OSD1_CURRENT_Y:
OSD1\_CURRENT\_Y: Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vertical position on screen
+--------+
| Range |
+========+
| 0 - 15 |
+--------+
.. _parameters_OSD1_FLTMODE:
OSD1\_FLTMODE Parameters
------------------------
.. _OSD1_FLTMODE_EN:
OSD1\_FLTMODE\_EN: Enable
~~~~~~~~~~~~~~~~~~~~~~~~~
Enable setting
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _OSD1_FLTMODE_X:
OSD1\_FLTMODE\_X: X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Horizontal position on screen
+--------+
| Range |
+========+
| 0 - 29 |
+--------+
.. _OSD1_FLTMODE_Y:
OSD1\_FLTMODE\_Y: Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vertical position on screen
+--------+
| Range |
+========+
| 0 - 15 |
+--------+
.. _parameters_OSD1_GPSLAT:
OSD1\_GPSLAT Parameters
-----------------------
.. _OSD1_GPSLAT_EN:
OSD1\_GPSLAT\_EN: Enable
~~~~~~~~~~~~~~~~~~~~~~~~
Enable setting
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _OSD1_GPSLAT_X:
OSD1\_GPSLAT\_X: X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~
Horizontal position on screen
+--------+
| Range |
+========+
| 0 - 29 |
+--------+
.. _OSD1_GPSLAT_Y:
OSD1\_GPSLAT\_Y: Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vertical position on screen
+--------+
| Range |
+========+
| 0 - 15 |
+--------+
.. _parameters_OSD1_GPSLONG:
OSD1\_GPSLONG Parameters
------------------------
.. _OSD1_GPSLONG_EN:
OSD1\_GPSLONG\_EN: Enable
~~~~~~~~~~~~~~~~~~~~~~~~~
Enable setting
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _OSD1_GPSLONG_X:
OSD1\_GPSLONG\_X: X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Horizontal position on screen
+--------+
| Range |
+========+
| 0 - 29 |
+--------+
.. _OSD1_GPSLONG_Y:
OSD1\_GPSLONG\_Y: Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vertical position on screen
+--------+
| Range |
+========+
| 0 - 15 |
+--------+
.. _parameters_OSD1_GSPEED:
OSD1\_GSPEED Parameters
-----------------------
.. _OSD1_GSPEED_EN:
OSD1\_GSPEED\_EN: Enable
~~~~~~~~~~~~~~~~~~~~~~~~
Enable setting
+----------------------+
| Values |
+======================+
| +-------+----------+ |
| | Value | Meaning | |
| +=======+==========+ |
| | 0 | Disabled | |
| +-------+----------+ |
| | 1 | Enabled | |
| +-------+----------+ |
| |
+----------------------+
.. _OSD1_GSPEED_X:
OSD1\_GSPEED\_X: X position
~~~~~~~~~~~~~~~~~~~~~~~~~~~
Horizontal position on screen
+--------+
| Range |
+========+
| 0 - 29 |
+--------+
.. _OSD1_GSPEED_Y:
OSD1\_GSPEED\_Y: Y position
~~~~~~~~~~~~~~~~~~~~~~~~~~~
Vertical position on screen
+--------+
| Range |
+========+
| 0 - 15 |
+--------+
.. _parameters_OSD1_HOME:
OSD1\_HOME Parameters
---------------------
.. _OSD1_HOME_EN:
OSD1\_HO