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#summary Dynamically generated list of documented parameters = Table of Contents = <wiki:toc max_depth="4" />

    = Vehicles =    

== Helicopter Parameters ==

=== Eeprom format version number (Helicopter:SYSID_SW_MREV) ===

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

• !ReadOnly: True

=== MAVLink system ID of this vehicle (Helicopter:SYSID_THISMAV) ===

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

• Range: 1 255

=== My ground station number (Helicopter:SYSID_MYGCS) ===

Allows restricting radio overrides to only come from my ground station

• Values || Value || Meaning || || 255 || Mission Planner and DroidPlanner || || 252 || AP Planner 2 ||

=== Throttle filter cutoff (Helicopter:PILOT_THR_FILT) ===

Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable

• Range: 0 10
• Increment: .5
• Units: hertz

=== Pilot takeoff altitude (Helicopter:PILOT_TKOFF_ALT) ===

Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick.

• Range: 0.0 1000.0
• Increment: 10
• Units: centimeters

=== Takeoff trigger deadzone (Helicopter:PILOT_TKOFF_DZ) ===

Offset from mid stick at which takeoff is triggered

• Range: 0 500
• Increment: 10

=== Throttle stick behavior (Helicopter:PILOT_THR_BHV) ===

Bitmask containing various throttle stick options. Add up the values for options that you want.

• Bitmask: 0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection
• Values || Value || Meaning || || 0 || None || || 1 || Feedback from mid stick || || 2 || High throttle cancels landing || || 4 || Disarm on land detection ||

=== Telemetry startup delay (Helicopter:TELEM_DELAY) ===

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

• Range: 0 30
• Increment: 1
• Units: seconds

=== GCS PID tuning mask (Helicopter:GCS_PID_MASK) ===

bitmask of PIDs to send MAVLink PID_TUNING messages for

• Bitmask: 0:Roll,1:Pitch,2:Yaw
• Values || Value || Meaning || || 0 || None || || 1 || Roll || || 2 || Pitch || || 4 || Yaw ||

=== RTL Altitude (Helicopter:RTL_ALT) ===

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: 200 8000
• Increment: 1
• Units: centimeters

=== RTL cone slope (Helicopter:RTL_CONE_SLOPE) ===

Defines a cone above home which determines maximum climb

• Range: 0.5 10.0
• Values || Value || Meaning || || 0 || Disabled || || 1 || Shallow || || 3 || Steep ||
• Increment: .1

=== RTL speed (Helicopter: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: 0 2000
• Increment: 50
• Units: centimeters per second

=== RTL Final Altitude (Helicopter:RTL_ALT_FINAL) ===

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: -1 1000
• Increment: 1
• Units: centimeters

=== RTL minimum climb (Helicopter:RTL_CLIMB_MIN) ===

The vehicle will climb this many cm during the initial climb portion of the RTL

• Range: 0 3000
• Increment: 10
• Units: centimeters

=== RTL loiter time (Helicopter:RTL_LOIT_TIME) ===

Time (in milliseconds) to loiter above home before beginning final descent

• Range: 0 60000
• Increment: 1000
• Units: milliseconds

=== Rangefinder gain (Helicopter:RNGFND_GAIN) ===

Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter

• Range: 0.01 2.0
• Increment: 0.01

=== Ground Station Failsafe Enable (Helicopter:FS_GCS_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 (Helicopter:GPS_HDOP_GOOD) ===

GPS Hdop value at or below this value represent a good position. Used for pre-arm checks

• Range: 100 900

=== Compass enable/disable (Helicopter:MAG_ENABLE) ===

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 Mode (Helicopter:SUPER_SIMPLE) ===

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 ||

=== Yaw behaviour during missions (Helicopter:WP_YAW_BEHAVIOR) ===

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 (Helicopter:LAND_SPEED) ===

The descent speed for the final stage of landing in cm/s

• Range: 30 200
• Increment: 10
• Units: centimeters per second

=== Land speed high (Helicopter: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: 0 500
• Increment: 10
• Units: centimeters per second

=== Pilot maximum vertical speed ascending (Helicopter:PILOT_SPEED_UP) ===

The maximum vertical ascending velocity the pilot may request in cm/s

• Range: 50 500
• Increment: 10
• Units: centimeters per second

=== Pilot vertical acceleration (Helicopter:PILOT_ACCEL_Z) ===

The vertical acceleration used when pilot is controlling the altitude

• Range: 50 500
• Increment: 10
• Units: centimeters per square second

=== Throttle Failsafe Enable (Helicopter:FS_THR_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 ||

=== Throttle Failsafe Value (Helicopter:FS_THR_VALUE) ===

The PWM level in microseconds on channel 3 below which throttle failsafe triggers

• Range: 925 1100
• Increment: 1
• Units: PWM in microseconds

=== Throttle deadzone (Helicopter:THR_DZ) ===

The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes

• Range: 0 300
• Increment: 1
• Units: PWM in microseconds

=== Flight Mode 1 (Helicopter:FLTMODE1) ===

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 ||

=== Flight Mode 2 (Helicopter:FLTMODE2) ===

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 ||

=== Flight Mode 3 (Helicopter:FLTMODE3) ===

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 ||

=== Flight Mode 4 (Helicopter:FLTMODE4) ===

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 ||

=== Flight Mode 5 (Helicopter:FLTMODE5) ===

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 ||

=== Flight Mode 6 (Helicopter:FLTMODE6) ===

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 ||

=== Flightmode channel (Helicopter:FLTMODE_CH) ===

RC Channel to use for flight mode control

• Values || Value || Meaning || || 0 || Disabled || || 5 || Channel5 || || 6 || Channel6 || || 7 || Channel7 || || 8 || Channel8 ||

=== Simple mode bitmask (Helicopter:SIMPLE) ===

Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)

=== Log bitmask (Helicopter:LOG_BITMASK) ===

4 byte bitmap of log types to enable

• Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW
• Values || Value || Meaning || || 830 || Default || || 894 || Default+RCIN || || 958 || Default+IMU || || 1854 || Default+Motors || || -6146 || !NearlyAll-AC315 || || 45054 || !NearlyAll || || 131071 || All+FastATT || || 262142 || All+MotBatt || || 393214 || All+FastIMU || || 397310 || All+FastIMU+PID || || 655358 || All+FullIMU || || 0 || Disabled ||

=== ESC Calibration (Helicopter:ESC_CALIBRATION) ===

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 ||

=== Channel 6 Tuning (Helicopter:TUNE) ===

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 ||

=== Tuning minimum (Helicopter:TUNE_LOW) ===

The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob

• Range: 0 32767

=== Tuning maximum (Helicopter:TUNE_HIGH) ===

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 (+, X, V, etc) (Helicopter:FRAME_TYPE) ===

Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.

• Values || Value || Meaning || || 0 || Plus || || 1 || X || || 2 || V || || 3 || H || || 4 || V-Tail || || 5 || A-Tail || || 10 || Y6B ||
• !RebootRequired: True

=== Channel 7 option (Helicopter:CH7_OPT) ===

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 ||

=== Channel 8 option (Helicopter:CH8_OPT) ===

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 ||

=== Channel 9 option (Helicopter:CH9_OPT) ===

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 ||

=== Channel 10 option (Helicopter:CH10_OPT) ===

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 ||

=== Channel 11 option (Helicopter:CH11_OPT) ===

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 ||

=== Channel 12 option (Helicopter:CH12_OPT) ===

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 (Helicopter:DISARM_DELAY) ===

Delay before automatic disarm in seconds. A value of zero disables auto disarm.

• Range: 0 127
• Units: seconds

=== Angle Max (Helicopter:ANGLE_MAX) ===

Maximum lean angle in all flight modes

• Range: 1000 8000
• Units: centidegrees

=== !PosHold braking rate (Helicopter:PHLD_BRAKE_RATE) ===

PosHold flight mode's rotation rate during braking in deg/sec

• Range: 4 12
• Units: degrees per second

=== !PosHold braking angle max (Helicopter:PHLD_BRAKE_ANGLE) ===

PosHold flight mode's max lean angle during braking in centi-degrees

• Range: 2000 4500
• Units: centidegrees

=== Land repositioning (Helicopter:LAND_REPOSITION) ===

Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.

• Values || Value || Meaning || || 0 || No repositioning || || 1 || Repositioning ||

=== EKF Failsafe Action (Helicopter:FS_EKF_ACTION) ===

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 ||

=== EKF failsafe variance threshold (Helicopter:FS_EKF_THRESH) ===

Allows setting the maximum acceptable compass and velocity variance

• Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed

=== Crash check enable (Helicopter:FS_CRASH_CHECK) ===

This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== ESC Update Speed (Helicopter:RC_SPEED) ===

This is the speed in Hertz that your ESCs will receive updates

• Range: 50 490
• Increment: 1
• Units: hertz

=== Acro Roll and Pitch P gain (Helicopter:ACRO_RP_P) ===

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 gain (Helicopter:ACRO_YAW_P) ===

Converts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.

• Range: 1 10

=== Acro Balance Roll (Helicopter:ACRO_BAL_ROLL) ===

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: 0 3
• Increment: 0.1

=== Acro Balance Pitch (Helicopter:ACRO_BAL_PITCH) ===

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: 0 3
• Increment: 0.1

=== Acro Trainer (Helicopter:ACRO_TRAINER) ===

Type of trainer used in acro mode

• Values || Value || Meaning || || 0 || Disabled || || 1 || Leveling || || 2 || Leveling and Limited ||

=== Acro Roll/Pitch Expo (Helicopter:ACRO_RP_EXPO) ===

Acro roll/pitch Expo to allow faster rotation when stick at edges

• Range: -0.5 1.0
• Values || Value || Meaning || || 0 || Disabled || || 0.1 || Very Low || || 0.2 || Low || || 0.3 || Medium || || 0.4 || High || || 0.5 || Very High ||

=== Autotune axis bitmask (Helicopter:AUTOTUNE_AXES) ===

1-byte bitmap of axes to autotune

• Bitmask: 0:Roll,1:Pitch,2:Yaw
• Values || Value || Meaning || || 7 || All || || 1 || Roll Only || || 2 || Pitch Only || || 4 || Yaw Only || || 3 || Roll and Pitch || || 5 || Roll and Yaw || || 6 || Pitch and Yaw ||

=== Autotune aggressiveness (Helicopter:AUTOTUNE_AGGR) ===

Autotune aggressiveness. Defines the bounce back used to detect size of the D term.

• Range: 0.05 0.10

=== !AutoTune minimum D (Helicopter:AUTOTUNE_MIN_D) ===

Defines the minimum D gain

• Range: 0.001 0.006

=== Start motors before throwing is detected (Helicopter:THROW_MOT_START) ===

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 Following use control (Helicopter:TERRAIN_FOLLOW) ===

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 ||

=== Minimum navigation altitude (Helicopter:WP_NAVALT_MIN) ===

This is the altitude in meters above which for navigation can begin. This applies in auto takeoff and auto landing.

• Range: 0 5

=== Throw mode's follow up mode (Helicopter:THROW_NEXTMODE) ===

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 ||

=== Type of Type (Helicopter:THROW_TYPE) ===

Used by THROW mode. Specifies whether Copter is thrown upward or dropped.

• Values || Value || Meaning || || 0 || Upward Throw || || 1 || Drop ||

=== Ground Effect Compensation Enable/Disable (Helicopter:GND_EFFECT_COMP) ===

Ground Effect Compensation Enable/Disable

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Development options (Helicopter:DEV_OPTIONS) ===

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: 0:ADSBMavlinkProcessing,1:DevOptionVFR_HUDRelativeAlt

=== Acro Yaw Expo (Helicopter:ACRO_Y_EXPO) ===

Acro yaw expo to allow faster rotation when stick at edges

• Range: -0.5 1.0
• Values || Value || Meaning || || 0 || Disabled || || 0.1 || Very Low || || 0.2 || Low || || 0.3 || Medium || || 0.4 || High || || 0.5 || Very High ||

=== Acro Thr Mid (Helicopter:ACRO_THR_MID) ===

Acro Throttle Mid

• Range: 0 1

=== GCS sysid enforcement (Helicopter:SYSID_ENFORCE) ===

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

• Values || Value || Meaning || || 0 || !NotEnforced || || 1 || Enforced ||

=== Frame Class (Helicopter:FRAME_CLASS) ===

Controls major frame class for multicopter component

• Values || 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 ||
• !RebootRequired: True

=== Pilot maximum vertical speed descending (Helicopter:PILOT_SPEED_DN) ===

The maximum vertical descending velocity the pilot may request in cm/s

• Range: 50 500
• Increment: 10
• Units: centimeters per second

=== Land alt low (Helicopter:LAND_ALT_LOW) ===

Altitude during Landing at which vehicle slows to LAND_SPEED

• Range: 100 10000
• Increment: 10
• Units: centimeters

=Libraries=

== ADSB_ Parameters ==

=== Enable ADSB (ADSB_ENABLE) ===

Enable ADS-B

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== ADSB vehicle list size (ADSB_LIST_MAX) ===

ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.

• Range: 1 100

=== ADSB vehicle list radius filter (ADSB_LIST_RADIUS) ===

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

=== ICAO_ID vehicle identification number (ADSB_ICAO_ID) ===

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

=== Emitter type (ADSB_EMIT_TYPE) ===

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 ||

=== Aircraft length and width (ADSB_LEN_WIDTH) ===

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 ||

=== GPS antenna lateral offset (ADSB_OFFSET_LAT) ===

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 ||

=== GPS antenna longitudinal offset (ADSB_OFFSET_LON) ===

GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor

• Values || Value || Meaning || || 0 || NO_DATA || || 1 || !AppliedBySensor ||

=== Transceiver RF selection (ADSB_RF_SELECT) ===

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 ||

=== Squawk code (ADSB_SQUAWK) ===

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

=== RF capabilities (ADSB_RF_CAPABLE) ===

Describes your hardware RF In/Out capabilities.

• Bitmask: 0:UAT_in,1:1090ES_in,2:UAT_out,3:1090ES_out
• Values || Value || Meaning || || 0 || Unknown || || 1 || Rx UAT only || || 3 || Rx UAT and 1090ES || || 7 || Rx&Tx UAT and 1090ES ||

== AFS_ Parameters ==

=== Enable Advanced Failsafe (AFS_ENABLE) ===

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

=== Manual Pin (AFS_MAN_PIN) ===

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

=== Heartbeat Pin (AFS_HB_PIN) ===

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.

=== Comms Waypoint (AFS_WP_COMMS) ===

Waypoint number to navigate to on comms loss

=== GPS Loss Waypoint (AFS_GPS_LOSS) ===

Waypoint number to navigate to on GPS lock loss

=== Force Terminate (AFS_TERMINATE) ===

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

=== Terminate action (AFS_TERM_ACTION) ===

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

=== Terminate Pin (AFS_TERM_PIN) ===

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

=== AMSL limit (AFS_AMSL_LIMIT) ===

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

=== Error margin for GPS based AMSL limit (AFS_AMSL_ERR_GPS) ===

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

=== QNH pressure (AFS_QNH_PRESSURE) ===

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

=== Maximum number of GPS loss events (AFS_MAX_GPS_LOSS) ===

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.

=== Maximum number of comms loss events (AFS_MAX_COM_LOSS) ===

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.

=== Enable geofence Advanced Failsafe (AFS_GEOFENCE) ===

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

=== Enable RC Advanced Failsafe (AFS_RC) ===

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

=== Enable RC Termination only in manual control modes (AFS_RC_MAN_ONLY) ===

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.

=== Enable dual loss terminate due to failure of both GCS and GPS simultaneously (AFS_DUAL_LOSS) ===

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.

=== RC failure time (AFS_RC_FAIL_TIME) ===

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

== AHRS_ Parameters ==

=== AHRS GPS gain (AHRS_GPS_GAIN) ===

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: 0.0 1.0
• Increment: .01

=== AHRS use GPS for navigation (AHRS_GPS_USE) ===

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 ||

=== Yaw P (AHRS_YAW_P) ===

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: 0.1 0.4
• Increment: .01

=== AHRS RP_P (AHRS_RP_P) ===

This controls how fast the accelerometers correct the attitude

• Range: 0.1 0.4
• Increment: .01

=== Maximum wind (AHRS_WIND_MAX) ===

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: 0 127
• Increment: 1
• Units: meters per second

=== AHRS Trim Roll (AHRS_TRIM_X) ===

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

• Range: -0.1745 +0.1745
• Increment: 0.01
• Units: radians

=== AHRS Trim Pitch (AHRS_TRIM_Y) ===

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

• Range: -0.1745 +0.1745
• Increment: 0.01
• Units: radians

=== AHRS Trim Yaw (AHRS_TRIM_Z) ===

Not Used

• Range: -0.1745 +0.1745
• Increment: 0.01
• Units: radians

=== Board Orientation (AHRS_ORIENTATION) ===

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 Velocity Complementary Filter Beta Coefficient (AHRS_COMP_BETA) ===

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: 0.001 0.5
• Increment: .01

=== AHRS GPS Minimum satellites (AHRS_GPS_MINSATS) ===

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: 0 10
• Increment: 1

=== Use NavEKF Kalman filter for attitude and position estimation (AHRS_EKF_TYPE) ===

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 ||

=== Board orientation roll offset (AHRS_CUSTOM_ROLL) ===

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: -180 180
• Increment: 1
• Units: degrees

=== Board orientation pitch offset (AHRS_CUSTOM_PIT) ===

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: -180 180
• Increment: 1
• Units: degrees

=== Board orientation yaw offset (AHRS_CUSTOM_YAW) ===

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: -180 180
• Increment: 1
• Units: degrees

== ARMING_ Parameters ==

=== Require Arming Motors (ARMING_REQUIRE) ===

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 ||

=== Arm Checks to Peform (bitmask) (ARMING_CHECK) ===

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: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration
• Values || Value || Meaning || || 0 || None || || 1 || All || || 2 || Barometer || || 4 || Compass || || 8 || GPS Lock || || 16 || INS(INertial Sensors - accels & gyros) || || 32 || Parameters(unused) || || 64 || RC Channels || || 128 || Board voltage || || 256 || Battery Level || || 1024 || !LoggingAvailable || || 2048 || Hardware safety switch || || 4096 || GPS configuration ||

=== Accelerometer error threshold (ARMING_ACCTHRESH) ===

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: 0.25 3.0
• Units: meters per square second

=== Arming voltage minimum on the first battery (ARMING_VOLT_MIN) ===

The minimum voltage of the first battery required to arm, 0 disables the check

• Increment: 0.1
• Units: volt

=== Arming voltage minimum on the second battery (ARMING_VOLT2_MIN) ===

The minimum voltage of the second battery required to arm, 0 disables the check

• Increment: 0.1
• Units: volt

=== Arming with Rudder enable/disable (ARMING_RUDDER) ===

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 ||

== ATC_ Parameters ==

=== Yaw target slew rate (ATC_SLEW_YAW) ===

Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes

• Range: 500 18000
• Increment: 100
• Units: centidegrees per second

=== Acceleration Max for Yaw (ATC_ACCEL_Y_MAX) ===

Maximum acceleration in yaw axis

• Range: 0 72000
• Values || Value || Meaning || || 0 || Disabled || || 9000 || !VerySlow || || 18000 || Slow || || 36000 || Medium || || 54000 || Fast ||
• Increment: 1000
• Units: centidegrees per square second

=== Rate Feedforward Enable (ATC_RATE_FF_ENAB) ===

Controls whether body-frame rate feedfoward is enabled or disabled

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Acceleration Max for Roll (ATC_ACCEL_R_MAX) ===

Maximum acceleration in roll axis

• Range: 0 180000
• Values || Value || Meaning || || 0 || Disabled || || 30000 || !VerySlow || || 72000 || Slow || || 108000 || Medium || || 162000 || Fast ||
• Increment: 1000
• Units: centidegrees per square second

=== Acceleration Max for Pitch (ATC_ACCEL_P_MAX) ===

Maximum acceleration in pitch axis

• Range: 0 180000
• Values || Value || Meaning || || 0 || Disabled || || 30000 || !VerySlow || || 72000 || Slow || || 108000 || Medium || || 162000 || Fast ||
• Increment: 1000
• Units: centidegrees per square second

=== Angle Boost (ATC_ANGLE_BOOST) ===

Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Roll axis angle controller P gain (ATC_ANG_RLL_P) ===

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

=== Pitch axis angle controller P gain (ATC_ANG_PIT_P) ===

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

=== Yaw axis angle controller P gain (ATC_ANG_YAW_P) ===

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

=== Angle Limit (to maintain altitude) Time Constant (ATC_ANG_LIM_TC) ===

Angle Limit (to maintain altitude) Time Constant

• Range: 0.5 10.0

=== Angular Velocity Max for Roll (ATC_RATE_R_MAX) ===

Maximum angular velocity in roll axis

• Range: 0 1080
• Values || Value || Meaning || || 0 || Disabled || || 360 || Slow || || 720 || Medium || || 1080 || Fast ||
• Increment: 1
• Units: degrees per second

=== Angular Velocity Max for Pitch (ATC_RATE_P_MAX) ===

Maximum angular velocity in pitch axis

• Range: 0 1080
• Values || Value || Meaning || || 0 || Disabled || || 360 || Slow || || 720 || Medium || || 1080 || Fast ||
• Increment: 1
• Units: degrees per second

=== Angular Velocity Max for Pitch (ATC_RATE_Y_MAX) ===

Maximum angular velocity in pitch axis

• Range: 0 1080
• Values || Value || Meaning || || 0 || Disabled || || 360 || Slow || || 720 || Medium || || 1080 || Fast ||
• Increment: 1
• Units: degrees per second

=== Attitude control input time constant (aka smoothing) (ATC_INPUT_TC) ===

Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response

• Range: 0 1
• Values: 0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp
• Increment: 0.01
• Units: seconds

=== Roll axis rate controller P gain (ATC_RAT_RLL_P) ===

Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output

• Range: 0.05 0.5
• Increment: 0.005

=== Roll axis rate controller I gain (ATC_RAT_RLL_I) ===

Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate

• Range: 0.01 2.0
• Increment: 0.01

=== Roll axis rate controller I gain maximum (ATC_RAT_RLL_IMAX) ===

Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

• Range: 0 1
• Increment: 0.01
• Units: percent

=== Roll axis rate controller D gain (ATC_RAT_RLL_D) ===

Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate

• Range: 0.0 0.02
• Increment: 0.001

=== Roll axis rate controller feed forward (ATC_RAT_RLL_FF) ===

Roll axis rate controller feed forward

• Range: 0 0.5
• Increment: 0.001

=== Roll axis rate controller input frequency in Hz (ATC_RAT_RLL_FILT) ===

Roll axis rate controller input frequency in Hz

• Range: 1 100
• Increment: 1
• Units: hertz

=== Pitch axis rate controller P gain (ATC_RAT_PIT_P) ===

Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output

• Range: 0.05 0.50
• Increment: 0.005

=== Pitch axis rate controller I gain (ATC_RAT_PIT_I) ===

Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate

• Range: 0.01 2.0
• Increment: 0.01

=== Pitch axis rate controller I gain maximum (ATC_RAT_PIT_IMAX) ===

Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

• Range: 0 1
• Increment: 0.01
• Units: percent

=== Pitch axis rate controller D gain (ATC_RAT_PIT_D) ===

Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate

• Range: 0.0 0.02
• Increment: 0.001

=== Pitch axis rate controller feed forward (ATC_RAT_PIT_FF) ===

Pitch axis rate controller feed forward

• Range: 0 0.5
• Increment: 0.001

=== Pitch axis rate controller input frequency in Hz (ATC_RAT_PIT_FILT) ===

Pitch axis rate controller input frequency in Hz

• Range: 1 100
• Increment: 1
• Units: hertz

=== Yaw axis rate controller P gain (ATC_RAT_YAW_P) ===

Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output

• Range: 0.10 2.50
• Increment: 0.005

=== Yaw axis rate controller I gain (ATC_RAT_YAW_I) ===

Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate

• Range: 0.010 1.0
• Increment: 0.01

=== Yaw axis rate controller I gain maximum (ATC_RAT_YAW_IMAX) ===

Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

• Range: 0 1
• Increment: 0.01
• Units: percent

=== Yaw axis rate controller D gain (ATC_RAT_YAW_D) ===

Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate

• Range: 0.000 0.02
• Increment: 0.001

=== Yaw axis rate controller feed forward (ATC_RAT_YAW_FF) ===

Yaw axis rate controller feed forward

• Range: 0 0.5
• Increment: 0.001

=== Yaw axis rate controller input frequency in Hz (ATC_RAT_YAW_FILT) ===

Yaw axis rate controller input frequency in Hz

• Range: 1 10
• Increment: 1
• Units: hertz

=== Throttle Mix Minimum (ATC_THR_MIX_MIN) ===

Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)

• Range: 0.1 0.25

=== Throttle Mix Maximum (ATC_THR_MIX_MAX) ===

Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)

• Range: 0.5 0.9

=== Throttle Mix Manual (ATC_THR_MIX_MAN) ===

Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)

• Range: 0.1 0.9

=== Hover Roll Trim (ATC_HOVR_ROL_TRM) ===

Trim the hover roll angle to counter tail rotor thrust in a hover

• Range: 0 1000
• Units: centidegrees

=== Roll axis rate controller P gain (ATC_RAT_RLL_P) ===

Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output

• Range: 0.08 0.35
• Increment: 0.005

=== Roll axis rate controller I gain (ATC_RAT_RLL_I) ===

Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate

• Range: 0.01 0.6
• Increment: 0.01

=== Roll axis rate controller I gain maximum (ATC_RAT_RLL_IMAX) ===

Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

• Range: 0 1
• Increment: 0.01

=== Roll axis rate controller D gain (ATC_RAT_RLL_D) ===

Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate

• Range: 0.001 0.03
• Increment: 0.001

=== Roll axis rate controller feed forward (ATC_RAT_RLL_FF) ===

Roll axis rate controller feed forward

• Range: 0 0.5
• Increment: 0.001

=== Roll axis rate controller input frequency in Hz (ATC_RAT_RLL_FILT) ===

Roll axis rate controller input frequency in Hz

• Range: 1 20
• Increment: 1
• Units: hertz

=== Pitch axis rate controller P gain (ATC_RAT_PIT_P) ===

Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output

• Range: 0.08 0.35
• Increment: 0.005

=== Pitch axis rate controller I gain (ATC_RAT_PIT_I) ===

Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate

• Range: 0.01 0.6
• Increment: 0.01

=== Pitch axis rate controller I gain maximum (ATC_RAT_PIT_IMAX) ===

Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

• Range: 0 1
• Increment: 0.01

=== Pitch axis rate controller D gain (ATC_RAT_PIT_D) ===

Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate

• Range: 0.001 0.03
• Increment: 0.001

=== Pitch axis rate controller feed forward (ATC_RAT_PIT_FF) ===

Pitch axis rate controller feed forward

• Range: 0 0.5
• Increment: 0.001

=== Pitch axis rate controller input frequency in Hz (ATC_RAT_PIT_FILT) ===

Pitch axis rate controller input frequency in Hz

• Range: 1 20
• Increment: 1
• Units: hertz

=== Yaw axis rate controller P gain (ATC_RAT_YAW_P) ===

Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output

• Range: 0.180 0.60
• Increment: 0.005

=== Yaw axis rate controller I gain (ATC_RAT_YAW_I) ===

Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate

• Range: 0.01 0.06
• Increment: 0.01

=== Yaw axis rate controller I gain maximum (ATC_RAT_YAW_IMAX) ===

Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

• Range: 0 1
• Increment: 0.01

=== Yaw axis rate controller D gain (ATC_RAT_YAW_D) ===

Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate

• Range: 0.000 0.02
• Increment: 0.001

=== Yaw axis rate controller feed forward (ATC_RAT_YAW_FF) ===

Yaw axis rate controller feed forward

• Range: 0 0.5
• Increment: 0.001

=== Yaw axis rate controller input frequency in Hz (ATC_RAT_YAW_FILT) ===

Yaw axis rate controller input frequency in Hz

• Range: 1 20
• Increment: 1
• Units: hertz

=== Piro Comp Enable (ATC_PIRO_COMP) ===

Pirouette compensation enabled

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

== AVD_ Parameters ==

=== Enable Avoidance using ADSB (AVD_ENABLE) ===

Enable Avoidance using ADSB

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Recovery behaviour after a fail event (AVD_F_RCVRY) ===

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 ||

=== Maximum number of obstacles to track (AVD_OBS_MAX) ===

Maximum number of obstacles to track

=== Time Horizon Warn (AVD_W_TIME) ===

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

=== Time Horizon Fail (AVD_F_TIME) ===

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

=== Distance Warn XY (AVD_W_DIST_XY) ===

Closest allowed projected distance before W_ACTION is undertaken

• Units: meters

=== Distance Fail XY (AVD_F_DIST_XY) ===

Closest allowed projected distance before F_ACTION is undertaken

• Units: meters

=== Distance Warn Z (AVD_W_DIST_Z) ===

Closest allowed projected distance before BEHAVIOUR_W is undertaken

• Units: meters

=== Distance Fail Z (AVD_F_DIST_Z) ===

Closest allowed projected distance before BEHAVIOUR_F is undertaken

• Units: meters

=== ADS-B avoidance minimum altitude (AVD_F_ALT_MIN) ===

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

== AVOID_ Parameters ==

=== Avoidance control enable/disable (AVOID_ENABLE) ===

Enabled/disable stopping at fence

• Bitmask: 0:StopAtFence,1:UseProximitySensor,2:StopAtBeaconFence
• Values || Value || Meaning || || 0 || None || || 1 || !StopAtFence || || 2 || !UseProximitySensor || || 3 || !StopAtFence and UseProximitySensor || || 4 || !StopAtBeaconFence || || 7 || All ||

=== Avoidance max lean angle in non-GPS flight modes (AVOID_ANGLE_MAX) ===

Max lean angle used to avoid obstacles while in non-GPS modes

• Range: 0 4500
• Units: centidegrees

=== Avoidance distance maximum in non-GPS flight modes (AVOID_DIST_MAX) ===

Distance from object at which obstacle avoidance will begin in non-GPS modes

• Range: 1 30
• Units: meters

=== Avoidance distance margin in GPS modes (AVOID_MARGIN) ===

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

• Range: 1 10
• Units: meters

=== Avoidance behaviour (AVOID_BEHAVE) ===

Avoidance behaviour (slide or stop)

• Values || Value || Meaning || || 0 || Slide || || 1 || Stop ||

== BATT2_ Parameters ==

=== Battery monitoring (BATT2_MONITOR) ===

Controls enabling monitoring of the battery's voltage and current

• Values || Value || Meaning || || 0 || Disabled || || 3 || Analog Voltage Only || || 4 || Analog Voltage and Current || || 5 || Solo || || 6 || Bebop || || 7 || SMBus-Maxell || || 8 || UAVCAN-BatteryInfo || || 9 || BLHeli ESC ||
• !RebootRequired: True

=== Battery Voltage sensing pin (BATT2_VOLT_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 || Value || Meaning || || -1 || Disabled || || 0 || A0 || || 1 || A1 || || 2 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 13 || Pixhawk2_PM2 || || 100 || PX4-v1 ||
• !RebootRequired: True

=== Battery Current sensing pin (BATT2_CURR_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 || Value || Meaning || || -1 || Disabled || || 1 || A1 || || 2 || A2 || || 3 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 14 || Pixhawk2_PM2 || || 101 || PX4-v1 ||
• !RebootRequired: True

=== Voltage Multiplier (BATT2_VOLT_MULT) ===

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.

=== Amps per volt (BATT2_AMP_PERVLT) ===

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

=== AMP offset (BATT2_AMP_OFFSET) ===

Voltage offset at zero current on current sensor

• Units: volt

=== Battery capacity (BATT2_CAPACITY) ===

Capacity of the battery in mAh when full

• Increment: 50
• Units: milliampere hour

=== Maximum allowed power (Watts) (BATT2_WATT_MAX) ===

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: 1
• Units: watt

=== Battery serial number (BATT2_SERIAL_NUM) ===

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

=== Low voltage timeout (BATT2_LOW_TIMER) ===

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: 0 120
• Increment: 1
• Units: seconds

=== Failsafe voltage source (BATT2_FS_VOLTSRC) ===

Voltage type used for detection of low voltage event

• Values || Value || Meaning || || 0 || Raw Voltage || || 1 || Sag Compensated Voltage ||

=== Low battery voltage (BATT2_LOW_VOLT) ===

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: 0.1
• Units: volt

=== Low battery capacity (BATT2_LOW_MAH) ===

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: 50
• Units: milliampere hour

=== Critical battery voltage (BATT2_CRT_VOLT) ===

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: 0.1
• Units: volt

=== Battery critical capacity (BATT2_CRT_MAH) ===

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: 50
• Units: milliampere hour

=== Low battery failsafe action (BATT2_FS_LOW_ACT) ===

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 ||

=== Critical battery failsafe action (BATT2_FS_CRT_ACT) ===

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 ||

== BATT_ Parameters ==

=== Battery monitoring (BATT_MONITOR) ===

Controls enabling monitoring of the battery's voltage and current

• Values || Value || Meaning || || 0 || Disabled || || 3 || Analog Voltage Only || || 4 || Analog Voltage and Current || || 5 || Solo || || 6 || Bebop || || 7 || SMBus-Maxell || || 8 || UAVCAN-BatteryInfo || || 9 || BLHeli ESC ||
• !RebootRequired: True

=== Battery Voltage sensing pin (BATT_VOLT_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 || Value || Meaning || || -1 || Disabled || || 0 || A0 || || 1 || A1 || || 2 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 13 || Pixhawk2_PM2 || || 100 || PX4-v1 ||
• !RebootRequired: True

=== Battery Current sensing pin (BATT_CURR_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 || Value || Meaning || || -1 || Disabled || || 1 || A1 || || 2 || A2 || || 3 || Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 || || 14 || Pixhawk2_PM2 || || 101 || PX4-v1 ||
• !RebootRequired: True

=== Voltage Multiplier (BATT_VOLT_MULT) ===

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.

=== Amps per volt (BATT_AMP_PERVLT) ===

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

=== AMP offset (BATT_AMP_OFFSET) ===

Voltage offset at zero current on current sensor

• Units: volt

=== Battery capacity (BATT_CAPACITY) ===

Capacity of the battery in mAh when full

• Increment: 50
• Units: milliampere hour

=== Maximum allowed power (Watts) (BATT_WATT_MAX) ===

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: 1
• Units: watt

=== Battery serial number (BATT_SERIAL_NUM) ===

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

=== Low voltage timeout (BATT_LOW_TIMER) ===

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: 0 120
• Increment: 1
• Units: seconds

=== Failsafe voltage source (BATT_FS_VOLTSRC) ===

Voltage type used for detection of low voltage event

• Values || Value || Meaning || || 0 || Raw Voltage || || 1 || Sag Compensated Voltage ||

=== Low battery voltage (BATT_LOW_VOLT) ===

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: 0.1
• Units: volt

=== Low battery capacity (BATT_LOW_MAH) ===

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: 50
• Units: milliampere hour

=== Critical battery voltage (BATT_CRT_VOLT) ===

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: 0.1
• Units: volt

=== Battery critical capacity (BATT_CRT_MAH) ===

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: 50
• Units: milliampere hour

=== Low battery failsafe action (BATT_FS_LOW_ACT) ===

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 ||

=== Critical battery failsafe action (BATT_FS_CRT_ACT) ===

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 ||

== BCN Parameters ==

=== Beacon based position estimation device type (BCN_TYPE) ===

What type of beacon based position estimation device is connected

• Values || Value || Meaning || || 0 || None || || 1 || Pozyx || || 2 || Marvelmind ||

=== Beacon origin's latitude (BCN_LATITUDE) ===

Beacon origin's latitude

• Range: -90 90
• Increment: 0.000001
• Units: degrees

=== Beacon origin's longitude (BCN_LONGITUDE) ===

Beacon origin's longitude

• Range: -180 180
• Increment: 0.000001
• Units: degrees

=== Beacon origin's altitude above sealevel in meters (BCN_ALT) ===

Beacon origin's altitude above sealevel in meters

• Range: 0 10000
• Increment: 1
• Units: meters

=== Beacon systems rotation from north in degrees (BCN_ORIENT_YAW) ===

Beacon systems rotation from north in degrees

• Range: -180 +180
• Increment: 1
• Units: degrees

== BRD_ Parameters ==

=== Auxiliary pin config (BRD_PWM_COUNT) ===

Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO

• Values || Value || Meaning || || 0 || No PWMs || || 2 || Two PWMs || || 4 || Four PWMs || || 6 || Six PWMs || || 7 || Three PWMs and One Capture ||
• !RebootRequired: True

=== Serial 1 flow control (BRD_SER1_RTSCTS) ===

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 || Value || Meaning || || 0 || Disabled || || 1 || Enabled || || 2 || Auto ||
• !RebootRequired: True

=== Serial 2 flow control (BRD_SER2_RTSCTS) ===

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 || Value || Meaning || || 0 || Disabled || || 1 || Enabled || || 2 || Auto ||
• !RebootRequired: True

=== Enable use of safety arming switch (BRD_SAFETYENABLE) ===

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

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||
• !RebootRequired: True

=== SBUS output rate (BRD_SBUS_OUT) ===

This sets the SBUS output frame rate in Hz

• Values || Value || Meaning || || 0 || Disabled || || 1 || 50Hz || || 2 || 75Hz || || 3 || 100Hz || || 4 || 150Hz || || 5 || 200Hz || || 6 || 250Hz || || 7 || 300Hz ||
• !RebootRequired: True

=== User-defined serial number (BRD_SERIAL_NUM) ===

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

=== Channels to which ignore the safety switch state (BRD_SAFETY_MASK) ===

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

• Bitmask: 0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14
• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||
• !RebootRequired: True

=== Target IMU temperature (BRD_IMU_TARGTEMP) ===

_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: -1 80
• Units: degrees Celsius

=== Board type (BRD_TYPE) ===

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

• Values || Value || Meaning || || 0 || AUTO || || 1 || PX4V1 || || 2 || Pixhawk || || 3 || Cube/Pixhawk2 || || 4 || Pixracer || || 5 || !PixhawkMini || || 6 || Pixhawk2Slim || || 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 ||
• !RebootRequired: True

=== Enable IO co-processor (BRD_IO_ENABLE) ===

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

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||
• !RebootRequired: True

=== Options for safety button behavior (BRD_SAFETYOPTION) ===

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: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed

=== microSD slowdown (BRD_SD_SLOWDOWN) ===

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: 0 32
• Increment: 1

=== Board options (BRD_OPTIONS) ===

Board specific option flags

• Bitmask: 0:Enable hardware watchdog

== BRD_RADIO Parameters ==

=== Set type of direct attached radio (BRD_RADIO_TYPE) ===

This enables support for direct attached radio receivers

• Values || Value || Meaning || || 0 || None || || 1 || CYRF6936 ||

=== protocol (BRD_RADIO_PROT) ===

Select air protocol

• Values || Value || Meaning || || 0 || Auto || || 1 || DSM2 || || 2 || DSMX ||

=== debug level (BRD_RADIO_DEBUG) ===

radio debug level

• Range: 0 4

=== disable receive CRC (BRD_RADIO_DISCRC) ===

disable receive CRC (for debug)

• Values || Value || Meaning || || 0 || !NotDisabled || || 1 || Disabled ||

=== RSSI signal strength (BRD_RADIO_SIGCH) ===

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

• Range: 0 16

=== Packet rate channel (BRD_RADIO_PPSCH) ===

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

• Range: 0 16

=== Enable telemetry (BRD_RADIO_TELEM) ===

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

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Telemetry Transmit power (BRD_RADIO_TXPOW) ===

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

=== Put radio into FCC test mode (BRD_RADIO_FCCTST) ===

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 ||

=== Stick input mode (BRD_RADIO_STKMD) ===

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 ||

=== Set radio to factory test channel (BRD_RADIO_TESTCH) ===

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 ||

=== RSSI value channel for telemetry data on transmitter (BRD_RADIO_TSIGCH) ===

Channel to show telemetry RSSI value as received by TX

• Range: 0 16

=== Telemetry PPS channel (BRD_RADIO_TPPSCH) ===

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

• Range: 0 16

=== Transmitter transmit power (BRD_RADIO_TXMAX) ===

Set transmitter maximum transmit power (from 1 to 8)

• Range: 1 8

=== Transmitter buzzer adjustment (BRD_RADIO_BZOFS) ===

Set transmitter buzzer note adjustment (adjust frequency up)

• Range: 0 40

=== Auto-bind time (BRD_RADIO_ABTIME) ===

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

• Range: 0 120

=== Auto-bind level (BRD_RADIO_ABLVL) ===

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

• Range: 0 31

== BRD_RTC Parameters ==

=== Allowed sources of RTC time (BRD_RTC_TYPES) ===

Specifies which sources of UTC time will be accepted

• Bitmask: 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW

== BTN_ Parameters ==

=== Enable button reporting (BTN_ENABLE) ===

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 ||

=== First button Pin (BTN_PIN1) ===

_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 ||

=== Second button Pin (BTN_PIN2) ===

_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 ||

=== Third button Pin (BTN_PIN3) ===

_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 ||

=== Fourth button Pin (BTN_PIN4) ===

_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 ||

=== Report send time (BTN_REPORT_SEND) ===

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

== CAM_ Parameters ==

=== Camera shutter (trigger) type (CAM_TRIGG_TYPE) ===

how to trigger the camera to take a picture

• Values || Value || Meaning || || 0 || Servo || || 1 || Relay ||

=== Duration that shutter is held open (CAM_DURATION) ===

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

• Range: 0 50
• Units: deciseconds

=== Servo ON PWM value (CAM_SERVO_ON) ===

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

• Range: 1000 2000
• Units: PWM in microseconds

=== Servo OFF PWM value (CAM_SERVO_OFF) ===

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

• Range: 1000 2000
• Units: PWM in microseconds

=== Camera trigger distance (CAM_TRIGG_DIST) ===

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: 0 1000
• Units: meters

=== Relay ON value (CAM_RELAY_ON) ===

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 ||

=== Minimum time between photos (CAM_MIN_INTERVAL) ===

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

• Range: 0 10000
• Units: milliseconds

=== Maximum photo roll angle. (CAM_MAX_ROLL) ===

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

• Range: 0 180
• Units: degrees

=== Camera feedback pin (CAM_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 || Value || Meaning || || -1 || Disabled || || 50 || PX4 AUX1 || || 51 || PX4 AUX2 || || 52 || PX4 AUX3 || || 53 || PX4 AUX4(fast capture) || || 54 || PX4 AUX5 || || 55 || PX4 AUX6 ||
• !RebootRequired: True

=== Camera feedback pin polarity (CAM_FEEDBACK_POL) ===

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 ||

=== Distance-trigging in AUTO mode only (CAM_AUTO_ONLY) ===

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

• Values || Value || Meaning || || 0 || Always || || 1 || Only when in AUTO ||

== CAN_D1_ Parameters ==

=== Enable use of specific protocol over virtual driver (CAN_D1_PROTOCOL) ===

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

• Values || Value || Meaning || || 0 || Disabled || || 1 || UAVCAN ||
• !RebootRequired: True

== CAN_D1_UC_ Parameters ==

=== UAVCAN node that is used for this network (CAN_D1_UC_NODE) ===

UAVCAN node should be set implicitly

• Range: 1 250

=== RC Out channels to be transmitted as servo over UAVCAN (CAN_D1_UC_SRV_BM) ===

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

=== RC Out channels to be transmitted as ESC over UAVCAN (CAN_D1_UC_ESC_BM) ===

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

=== Servo output rate (CAN_D1_UC_SRV_RT) ===

Maximum transmit rate for servo outputs

• Range: 1 200
• Units: hertz

== CAN_D2_ Parameters ==

=== Enable use of specific protocol over virtual driver (CAN_D2_PROTOCOL) ===

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

• Values || Value || Meaning || || 0 || Disabled || || 1 || UAVCAN ||
• !RebootRequired: True

== CAN_D2_UC_ Parameters ==

=== UAVCAN node that is used for this network (CAN_D2_UC_NODE) ===

UAVCAN node should be set implicitly

• Range: 1 250

=== RC Out channels to be transmitted as servo over UAVCAN (CAN_D2_UC_SRV_BM) ===

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

=== RC Out channels to be transmitted as ESC over UAVCAN (CAN_D2_UC_ESC_BM) ===

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

=== Servo output rate (CAN_D2_UC_SRV_RT) ===

Maximum transmit rate for servo outputs

• Range: 1 200
• Units: hertz

== CAN_D3_ Parameters ==

=== Enable use of specific protocol over virtual driver (CAN_D3_PROTOCOL) ===

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

• Values || Value || Meaning || || 0 || Disabled || || 1 || UAVCAN ||
• !RebootRequired: True

== CAN_D3_UC_ Parameters ==

=== UAVCAN node that is used for this network (CAN_D3_UC_NODE) ===

UAVCAN node should be set implicitly

• Range: 1 250

=== RC Out channels to be transmitted as servo over UAVCAN (CAN_D3_UC_SRV_BM) ===

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

=== RC Out channels to be transmitted as ESC over UAVCAN (CAN_D3_UC_ESC_BM) ===

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

=== Servo output rate (CAN_D3_UC_SRV_RT) ===

Maximum transmit rate for servo outputs

• Range: 1 200
• Units: hertz

== CAN_P1_ Parameters ==

=== Index of virtual driver to be used with physical CAN interface (CAN_P1_DRIVER) ===

Enabling this option enables use of CAN buses.

• Values || Value || Meaning || || 0 || Disabled || || 1 || First driver || || 2 || Second driver ||
• !RebootRequired: True

=== Bitrate of CAN interface (CAN_P1_BITRATE) ===

Bit rate can be set up to from 10000 to 1000000

• Range: 10000 1000000

=== Level of debug for CAN devices (CAN_P1_DEBUG) ===

Enabling this option will provide debug messages

• Values || Value || Meaning || || 0 || Disabled || || 1 || Major messages || || 2 || All messages ||

== CAN_P2_ Parameters ==

=== Index of virtual driver to be used with physical CAN interface (CAN_P2_DRIVER) ===

Enabling this option enables use of CAN buses.

• Values || Value || Meaning || || 0 || Disabled || || 1 || First driver || || 2 || Second driver ||
• !RebootRequired: True

=== Bitrate of CAN interface (CAN_P2_BITRATE) ===

Bit rate can be set up to from 10000 to 1000000

• Range: 10000 1000000

=== Level of debug for CAN devices (CAN_P2_DEBUG) ===

Enabling this option will provide debug messages

• Values || Value || Meaning || || 0 || Disabled || || 1 || Major messages || || 2 || All messages ||

== CAN_P3_ Parameters ==

=== Index of virtual driver to be used with physical CAN interface (CAN_P3_DRIVER) ===

Enabling this option enables use of CAN buses.

• Values || Value || Meaning || || 0 || Disabled || || 1 || First driver || || 2 || Second driver ||
• !RebootRequired: True

=== Bitrate of CAN interface (CAN_P3_BITRATE) ===

Bit rate can be set up to from 10000 to 1000000

• Range: 10000 1000000

=== Level of debug for CAN devices (CAN_P3_DEBUG) ===

Enabling this option will provide debug messages

• Values || Value || Meaning || || 0 || Disabled || || 1 || Major messages || || 2 || All messages ||

== CHUTE_ Parameters ==

=== Parachute release enabled or disabled (CHUTE_ENABLED) ===

Parachute release enabled or disabled

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Parachute release mechanism type (relay or servo) (CHUTE_TYPE) ===

Parachute release mechanism type (relay or servo)

• Values || Value || Meaning || || 0 || First Relay || || 1 || Second Relay || || 2 || Third Relay || || 3 || Fourth Relay || || 10 || Servo ||

=== Parachute Servo ON PWM value (CHUTE_SERVO_ON) ===

Parachute Servo PWM value in microseconds when parachute is released

• Range: 1000 2000
• Increment: 1
• Units: PWM in microseconds

=== Servo OFF PWM value (CHUTE_SERVO_OFF) ===

Parachute Servo PWM value in microseconds when parachute is not released

• Range: 1000 2000
• Increment: 1
• Units: PWM in microseconds

=== Parachute min altitude in meters above home (CHUTE_ALT_MIN) ===

Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.

• Range: 0 32000
• Increment: 1
• Units: meters

=== Parachute release delay (CHUTE_DELAY_MS) ===

Delay in millseconds between motor stop and chute release

• Range: 0 5000
• Increment: 1
• Units: milliseconds

== CIRCLE_ Parameters ==

=== Circle Radius (CIRCLE_RADIUS) ===

Defines the radius of the circle the vehicle will fly when in Circle flight mode

• Range: 0 10000
• Increment: 100
• Units: centimeters

=== Circle rate (CIRCLE_RATE) ===

Circle mode's turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise

• Range: -90 90
• Increment: 1
• Units: degrees per second

== COMPASS_ Parameters ==

=== Compass offsets in milligauss on the X axis (COMPASS_OFS_X) ===

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

• Range: -400 400
• Increment: 1
• Units: milligauss

=== Compass offsets in milligauss on the Y axis (COMPASS_OFS_Y) ===

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

• Range: -400 400
• Increment: 1
• Units: milligauss

=== Compass offsets in milligauss on the Z axis (COMPASS_OFS_Z) ===

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

• Range: -400 400
• Increment: 1
• Units: milligauss

=== Compass declination (COMPASS_DEC) ===

An angle to compensate between the true north and magnetic north

• Range: -3.142 3.142
• Increment: 0.01
• Units: radians

=== Learn compass offsets automatically (COMPASS_LEARN) ===

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 ||

=== Use compass for yaw (COMPASS_USE) ===

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

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Auto Declination (COMPASS_AUTODEC) ===

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

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Motor interference compensation type (COMPASS_MOTCT) ===

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 ||

=== Motor interference compensation for body frame X axis (COMPASS_MOT_X) ===

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: -1000 1000
• Increment: 1
• Units: milligauss per ampere

=== Motor interference compensation for body frame Y axis (COMPASS_MOT_Y) ===

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: -1000 1000
• Increment: 1
• Units: milligauss per ampere

=== Motor interference compensation for body frame Z axis (COMPASS_MOT_Z) ===

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: -1000 1000
• Increment: 1
• Units: milligauss per ampere

=== Compass orientation (COMPASS_ORIENT) ===

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 is attached via an external cable (COMPASS_EXTERNAL) ===

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 ||

=== Compass2 offsets in milligauss on the X axis (COMPASS_OFS2_X) ===

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

• Range: -400 400
• Increment: 1
• Units: milligauss

=== Compass2 offsets in milligauss on the Y axis (COMPASS_OFS2_Y) ===

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

• Range: -400 400
• Increment: 1
• Units: milligauss

=== Compass2 offsets in milligauss on the Z axis (COMPASS_OFS2_Z) ===

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

• Range: -400 400
• Increment: 1
• Units: milligauss

=== Motor interference compensation to compass2 for body frame X axis (COMPASS_MOT2_X) ===

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: -1000 1000
• Increment: 1
• Units: milligauss per ampere

=== Motor interference compensation to compass2 for body frame Y axis (COMPASS_MOT2_Y) ===

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: -1000 1000
• Increment: 1
• Units: milligauss per ampere

=== Motor interference compensation to compass2 for body frame Z axis (COMPASS_MOT2_Z) ===

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: -1000 1000
• Increment: 1
• Units: milligauss per ampere

=== Choose primary compass (COMPASS_PRIMARY) ===

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 ||

=== Compass3 offsets in milligauss on the X axis (COMPASS_OFS3_X) ===

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

• Range: -400 400
• Increment: 1
• Units: milligauss

=== Compass3 offsets in milligauss on the Y axis (COMPASS_OFS3_Y) ===

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

• Range: -400 400
• Increment: 1
• Units: milligauss

=== Compass3 offsets in milligauss on the Z axis (COMPASS_OFS3_Z) ===

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

• Range: -400 400
• Increment: 1
• Units: milligauss

=== Motor interference compensation to compass3 for body frame X axis (COMPASS_MOT3_X) ===

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: -1000 1000
• Increment: 1
• Units: milligauss per ampere

=== Motor interference compensation to compass3 for body frame Y axis (COMPASS_MOT3_Y) ===

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: -1000 1000
• Increment: 1
• Units: milligauss per ampere

=== Motor interference compensation to compass3 for body frame Z axis (COMPASS_MOT3_Z) ===

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: -1000 1000
• Increment: 1
• Units: milligauss per ampere

=== Compass device id (COMPASS_DEV_ID) ===

Compass device id. Automatically detected, do not set manually

=== Compass2 device id (COMPASS_DEV_ID2) ===

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

=== Compass3 device id (COMPASS_DEV_ID3) ===

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

=== Compass2 used for yaw (COMPASS_USE2) ===

Enable or disable the second compass for determining heading.

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Compass2 orientation (COMPASS_ORIENT2) ===

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 ||

=== Compass2 is attached via an external cable (COMPASS_EXTERN2) ===

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 ||

=== Compass3 used for yaw (COMPASS_USE3) ===

Enable or disable the third compass for determining heading.

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Compass3 orientation (COMPASS_ORIENT3) ===

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 ||

=== Compass3 is attached via an external cable (COMPASS_EXTERN3) ===

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 soft-iron diagonal X component (COMPASS_DIA_X) ===

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 soft-iron diagonal Y component (COMPASS_DIA_Y) ===

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 soft-iron diagonal Z component (COMPASS_DIA_Z) ===

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 soft-iron off-diagonal X component (COMPASS_ODI_X) ===

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 soft-iron off-diagonal Y component (COMPASS_ODI_Y) ===

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 soft-iron off-diagonal Z component (COMPASS_ODI_Z) ===

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]``]

=== Compass2 soft-iron diagonal X component (COMPASS_DIA2_X) ===

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]``]

=== Compass2 soft-iron diagonal Y component (COMPASS_DIA2_Y) ===

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]``]

=== Compass2 soft-iron diagonal Z component (COMPASS_DIA2_Z) ===

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]``]

=== Compass2 soft-iron off-diagonal X component (COMPASS_ODI2_X) ===

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]``]

=== Compass2 soft-iron off-diagonal Y component (COMPASS_ODI2_Y) ===

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]``]

=== Compass2 soft-iron off-diagonal Z component (COMPASS_ODI2_Z) ===

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]``]

=== Compass3 soft-iron diagonal X component (COMPASS_DIA3_X) ===

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]``]

=== Compass3 soft-iron diagonal Y component (COMPASS_DIA3_Y) ===

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]``]

=== Compass3 soft-iron diagonal Z component (COMPASS_DIA3_Z) ===

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]``]

=== Compass3 soft-iron off-diagonal X component (COMPASS_ODI3_X) ===

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]``]

=== Compass3 soft-iron off-diagonal Y component (COMPASS_ODI3_Y) ===

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]``]

=== Compass3 soft-iron off-diagonal Z component (COMPASS_ODI3_Z) ===

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 calibration fitness (COMPASS_CAL_FIT) ===

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: 4 32
• Values || Value || Meaning || || 4 || Very Strict || || 8 || Strict || || 16 || Default || || 32 || Relaxed ||
• Increment: 0.1

=== Compass maximum offset (COMPASS_OFFS_MAX) ===

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

• Range: 500 3000
• Increment: 1

=== Compass disable driver type mask (COMPASS_TYPEMASK) ===

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: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883

=== Range in which sample is accepted (COMPASS_FLTR_RNG) ===

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: 0 100
• Increment: 1
• Units: percent

=== Automatically check orientation (COMPASS_AUTO_ROT) ===

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 ||

=== Compass1 scale factor (COMPASS_SCALE) ===

Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

• Range: 0 1.3

=== Compass2 scale factor (COMPASS_SCALE2) ===

Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

• Range: 0 1.3

=== Compass3 scale factor (COMPASS_SCALE3) ===

Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

• Range: 0 1.3

== COMPASS_PMOT Parameters ==

=== per-motor compass correction enable (COMPASS_PMOT_EN) ===

This enables per-motor compass corrections

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== per-motor exponential correction (COMPASS_PMOT_EXP) ===

This is the exponential correction for the power output of the motor for per-motor compass correction

• Range: 0 2
• Increment: 0.01

=== Compass per-motor1 X (COMPASS_PMOT1_X) ===

Compensation for X axis of motor1

=== Compass per-motor1 Y (COMPASS_PMOT1_Y) ===

Compensation for Y axis of motor1

=== Compass per-motor1 Z (COMPASS_PMOT1_Z) ===

Compensation for Z axis of motor1

=== Compass per-motor2 X (COMPASS_PMOT2_X) ===

Compensation for X axis of motor2

=== Compass per-motor2 Y (COMPASS_PMOT2_Y) ===

Compensation for Y axis of motor2

=== Compass per-motor2 Z (COMPASS_PMOT2_Z) ===

Compensation for Z axis of motor2

=== Compass per-motor3 X (COMPASS_PMOT3_X) ===

Compensation for X axis of motor3

=== Compass per-motor3 Y (COMPASS_PMOT3_Y) ===

Compensation for Y axis of motor3

=== Compass per-motor3 Z (COMPASS_PMOT3_Z) ===

Compensation for Z axis of motor3

=== Compass per-motor4 X (COMPASS_PMOT4_X) ===

Compensation for X axis of motor4

=== Compass per-motor4 Y (COMPASS_PMOT4_Y) ===

Compensation for Y axis of motor4

=== Compass per-motor4 Z (COMPASS_PMOT4_Z) ===

Compensation for Z axis of motor4

== EK2_ Parameters ==

=== Enable EKF2 (EK2_ENABLE) ===

This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||
• !RebootRequired: True

=== GPS mode control (EK2_GPS_TYPE) ===

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 ||

=== GPS horizontal velocity measurement noise (m/s) (EK2_VELNE_M_NSE) ===

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: 0.05 5.0
• Increment: 0.05
• Units: meters per second

=== GPS vertical velocity measurement noise (m/s) (EK2_VELD_M_NSE) ===

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: 0.05 5.0
• Increment: 0.05
• Units: meters per second

=== GPS velocity innovation gate size (EK2_VEL_I_GATE) ===

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: 100 1000
• Increment: 25

=== GPS horizontal position measurement noise (m) (EK2_POSNE_M_NSE) ===

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

• Range: 0.1 10.0
• Increment: 0.1
• Units: meters

=== GPS position measurement gate size (EK2_POS_I_GATE) ===

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: 100 1000
• Increment: 25

=== GPS glitch radius gate size (m) (EK2_GLITCH_RAD) ===

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: 10 100
• Increment: 5
• Units: meters

=== GPS measurement delay (msec) (EK2_GPS_DELAY) ===

This is the number of msec that the GPS measurements lag behind the inertial measurements.

• Range: 0 250
• Increment: 10
• Units: milliseconds
• !RebootRequired: True

=== Primary altitude sensor source (EK2_ALT_SOURCE) ===

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 || Value || Meaning || || 0 || Use Baro || || 1 || Use Range Finder || || 2 || Use GPS || || 3 || Use Range Beacon ||
• !RebootRequired: True

=== Altitude measurement noise (m) (EK2_ALT_M_NSE) ===

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: 0.1 10.0
• Increment: 0.1
• Units: meters

=== Height measurement gate size (EK2_HGT_I_GATE) ===

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: 100 1000
• Increment: 25

=== Height measurement delay (msec) (EK2_HGT_DELAY) ===

This is the number of msec that the Height measurements lag behind the inertial measurements.

• Range: 0 250
• Increment: 10
• Units: milliseconds
• !RebootRequired: True

=== Magnetometer measurement noise (Gauss) (EK2_MAG_M_NSE) ===

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

• Range: 0.01 0.5
• Increment: 0.01
• Units: gauss

=== Magnetometer default fusion mode (EK2_MAG_CAL) ===

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 ||

=== Magnetometer measurement gate size (EK2_MAG_I_GATE) ===

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: 100 1000
• Increment: 25

=== Equivalent airspeed measurement noise (m/s) (EK2_EAS_M_NSE) ===

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: 0.5 5.0
• Increment: 0.1
• Units: meters per second

=== Airspeed measurement gate size (EK2_EAS_I_GATE) ===

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: 100 1000
• Increment: 25

=== Range finder measurement noise (m) (EK2_RNG_M_NSE) ===

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

• Range: 0.1 10.0
• Increment: 0.1
• Units: meters

=== Range finder measurement gate size (EK2_RNG_I_GATE) ===

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: 100 1000
• Increment: 25

=== Maximum valid optical flow rate (EK2_MAX_FLOW) ===

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

• Range: 1.0 4.0
• Increment: 0.1
• Units: radians per second

=== Optical flow measurement noise (rad/s) (EK2_FLOW_M_NSE) ===

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

• Range: 0.05 1.0
• Increment: 0.05
• Units: radians per second

=== Optical Flow measurement gate size (EK2_FLOW_I_GATE) ===

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: 100 1000
• Increment: 25

=== Optical Flow measurement delay (msec) (EK2_FLOW_DELAY) ===

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: 0 127
• Increment: 10
• Units: milliseconds
• !RebootRequired: True

=== Rate gyro noise (rad/s) (EK2_GYRO_P_NSE) ===

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: 0.0001 0.1
• Increment: 0.0001
• Units: radians per second

=== Accelerometer noise (m/s^2) (EK2_ACC_P_NSE) ===

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: 0.01 1.0
• Increment: 0.01
• Units: meters per square second

=== Rate gyro bias stability (rad/s/s) (EK2_GBIAS_P_NSE) ===

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: 0.00001 0.001
• Units: radians per square second

=== Rate gyro scale factor stability (1/s) (EK2_GSCL_P_NSE) ===

This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.

• Range: 0.000001 0.001
• Units: hertz

=== Accelerometer bias stability (m/s^3) (EK2_ABIAS_P_NSE) ===

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: 0.00001 0.001
• Units: meters per cubic second

=== Wind velocity process noise (m/s^2) (EK2_WIND_P_NSE) ===

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

• Range: 0.01 1.0
• Increment: 0.1
• Units: meters per square second

=== Height rate to wind process noise scaler (EK2_WIND_PSCALE) ===

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: 0.0 1.0
• Increment: 0.1

=== GPS preflight check (EK2_GPS_CHECK) ===

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: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed

=== Bitmask of active IMUs (EK2_IMU_MASK) ===

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: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU
• !RebootRequired: True

=== GPS accuracy check scaler (%) (EK2_CHECK_SCALE) ===

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: 50 200
• Units: percent

=== Non-GPS operation position uncertainty (m) (EK2_NOAID_M_NSE) ===

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: 0.5 50.0
• Units: meters

=== EKF sensor logging IMU mask (EK2_LOG_MASK) ===

This sets the IMU mask of sensors to do full logging for

• Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU
• !RebootRequired: True

=== Yaw measurement noise (rad) (EK2_YAW_M_NSE) ===

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

• Range: 0.05 1.0
• Increment: 0.05
• Units: radians

=== Yaw measurement gate size (EK2_YAW_I_GATE) ===

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: 100 1000
• Increment: 25

=== Output complementary filter time constant (centi-sec) (EK2_TAU_OUTPUT) ===

Sets the time constant of the output complementary filter/predictor in centi-seconds.

• Range: 10 50
• Increment: 5
• Units: centiseconds

=== Earth magnetic field process noise (gauss/s) (EK2_MAGE_P_NSE) ===

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: 0.00001 0.01
• Units: gauss per second

=== Body magnetic field process noise (gauss/s) (EK2_MAGB_P_NSE) ===

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: 0.00001 0.01
• Units: gauss per second

=== Range finder switch height percentage (EK2_RNG_USE_HGT) ===

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: -1 70
• Increment: 1
• Units: percent

=== Maximum terrain gradient (EK2_TERR_GRAD) ===

Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference

• Range: 0 0.2
• Increment: 0.01

=== Range beacon measurement noise (m) (EK2_BCN_M_NSE) ===

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

• Range: 0.1 10.0
• Increment: 0.1
• Units: meters

=== Range beacon measurement gate size (EK2_BCN_I_GTE) ===

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: 100 1000
• Increment: 25

=== Range beacon measurement delay (msec) (EK2_BCN_DELAY) ===

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: 0 127
• Increment: 10
• Units: milliseconds
• !RebootRequired: True

=== Range finder max ground speed (EK2_RNG_USE_SPD) ===

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

• Range: 2.0 6.0
• Increment: 0.5
• Units: meters per second

=== Bitmask of active EKF cores that will always use heading fusion (EK2_MAG_MASK) ===

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: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
• !RebootRequired: True

=== Bitmask control of EKF reference height correction (EK2_OGN_HGT_MASK) ===

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: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position
• !RebootRequired: True

=== !EarthField error limit (EK2_MAG_EF_LIM) ===

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: 0 500
• Units: milligauss

== EK3_ Parameters ==

=== Enable EKF3 (EK3_ENABLE) ===

This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||
• !RebootRequired: True

=== GPS mode control (EK3_GPS_TYPE) ===

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 ||

=== GPS horizontal velocity measurement noise (m/s) (EK3_VELNE_M_NSE) ===

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: 0.05 5.0
• Increment: 0.05
• Units: meters per second

=== GPS vertical velocity measurement noise (m/s) (EK3_VELD_M_NSE) ===

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: 0.05 5.0
• Increment: 0.05
• Units: meters per second

=== GPS velocity innovation gate size (EK3_VEL_I_GATE) ===

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: 100 1000
• Increment: 25

=== GPS horizontal position measurement noise (m) (EK3_POSNE_M_NSE) ===

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

• Range: 0.1 10.0
• Increment: 0.1
• Units: meters

=== GPS position measurement gate size (EK3_POS_I_GATE) ===

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: 100 1000
• Increment: 25

=== GPS glitch radius gate size (m) (EK3_GLITCH_RAD) ===

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: 10 100
• Increment: 5
• Units: meters

=== Primary altitude sensor source (EK3_ALT_SOURCE) ===

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 || Value || Meaning || || 0 || Use Baro || || 1 || Use Range Finder || || 2 || Use GPS || || 3 || Use Range Beacon ||
• !RebootRequired: True

=== Altitude measurement noise (m) (EK3_ALT_M_NSE) ===

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: 0.1 10.0
• Increment: 0.1
• Units: meters

=== Height measurement gate size (EK3_HGT_I_GATE) ===

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: 100 1000
• Increment: 25

=== Height measurement delay (msec) (EK3_HGT_DELAY) ===

This is the number of msec that the Height measurements lag behind the inertial measurements.

• Range: 0 250
• Increment: 10
• Units: milliseconds
• !RebootRequired: True

=== Magnetometer measurement noise (Gauss) (EK3_MAG_M_NSE) ===

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

• Range: 0.01 0.5
• Increment: 0.01
• Units: gauss

=== Magnetometer default fusion mode (EK3_MAG_CAL) ===

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 || Value || Meaning || || 0 || When flying || || 1 || When manoeuvring || || 2 || Never || || 3 || After first climb yaw reset || || 4 || Always ||
• !RebootRequired: True

=== Magnetometer measurement gate size (EK3_MAG_I_GATE) ===

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: 100 1000
• Increment: 25

=== Equivalent airspeed measurement noise (m/s) (EK3_EAS_M_NSE) ===

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: 0.5 5.0
• Increment: 0.1
• Units: meters per second

=== Airspeed measurement gate size (EK3_EAS_I_GATE) ===

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: 100 1000
• Increment: 25

=== Range finder measurement noise (m) (EK3_RNG_M_NSE) ===

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

• Range: 0.1 10.0
• Increment: 0.1
• Units: meters

=== Range finder measurement gate size (EK3_RNG_I_GATE) ===

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: 100 1000
• Increment: 25

=== Maximum valid optical flow rate (EK3_MAX_FLOW) ===

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

• Range: 1.0 4.0
• Increment: 0.1
• Units: radians per second

=== Optical flow measurement noise (rad/s) (EK3_FLOW_M_NSE) ===

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

• Range: 0.05 1.0
• Increment: 0.05
• Units: radians per second

=== Optical Flow measurement gate size (EK3_FLOW_I_GATE) ===

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: 100 1000
• Increment: 25

=== Optical Flow measurement delay (msec) (EK3_FLOW_DELAY) ===

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: 0 250
• Increment: 10
• Units: milliseconds
• !RebootRequired: True

=== Rate gyro noise (rad/s) (EK3_GYRO_P_NSE) ===

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: 0.0001 0.1
• Increment: 0.0001
• Units: radians per second

=== Accelerometer noise (m/s^2) (EK3_ACC_P_NSE) ===

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: 0.01 1.0
• Increment: 0.01
• Units: meters per square second

=== Rate gyro bias stability (rad/s/s) (EK3_GBIAS_P_NSE) ===

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: 0.00001 0.001
• Units: radians per square second

=== Accelerometer bias stability (m/s^3) (EK3_ABIAS_P_NSE) ===

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: 0.00001 0.001
• Units: meters per cubic second

=== Wind velocity process noise (m/s^2) (EK3_WIND_P_NSE) ===

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

• Range: 0.01 1.0
• Increment: 0.1
• Units: meters per square second

=== Height rate to wind process noise scaler (EK3_WIND_PSCALE) ===

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: 0.0 1.0
• Increment: 0.1

=== GPS preflight check (EK3_GPS_CHECK) ===

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: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed

=== Bitmask of active IMUs (EK3_IMU_MASK) ===

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: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU
• !RebootRequired: True

=== GPS accuracy check scaler (%) (EK3_CHECK_SCALE) ===

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: 50 200
• Units: percent

=== Non-GPS operation position uncertainty (m) (EK3_NOAID_M_NSE) ===

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: 0.5 50.0
• Units: meters

=== EKF sensor logging IMU mask (EK3_LOG_MASK) ===

This sets the IMU mask of sensors to do full logging for

• Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU
• !RebootRequired: True

=== Yaw measurement noise (rad) (EK3_YAW_M_NSE) ===

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

• Range: 0.05 1.0
• Increment: 0.05
• Units: radians

=== Yaw measurement gate size (EK3_YAW_I_GATE) ===

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: 100 1000
• Increment: 25

=== Output complementary filter time constant (centi-sec) (EK3_TAU_OUTPUT) ===

Sets the time constant of the output complementary filter/predictor in centi-seconds.

• Range: 10 50
• Increment: 5
• Units: centiseconds

=== Earth magnetic field process noise (gauss/s) (EK3_MAGE_P_NSE) ===

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: 0.00001 0.01
• Units: gauss per second

=== Body magnetic field process noise (gauss/s) (EK3_MAGB_P_NSE) ===

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: 0.00001 0.01
• Units: gauss per second

=== Range finder switch height percentage (EK3_RNG_USE_HGT) ===

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: -1 70
• Increment: 1
• Units: percent

=== Maximum terrain gradient (EK3_TERR_GRAD) ===

Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference

• Range: 0 0.2
• Increment: 0.01

=== Range beacon measurement noise (m) (EK3_BCN_M_NSE) ===

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

• Range: 0.1 10.0
• Increment: 0.1
• Units: meters

=== Range beacon measurement gate size (EK3_BCN_I_GTE) ===

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: 100 1000
• Increment: 25

=== Range beacon measurement delay (msec) (EK3_BCN_DELAY) ===

This is the number of msec that the range beacon measurements lag behind the inertial measurements.

• Range: 0 250
• Increment: 10
• Units: milliseconds
• !RebootRequired: True

=== Range finder max ground speed (EK3_RNG_USE_SPD) ===

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

• Range: 2.0 6.0
• Increment: 0.5
• Units: meters per second

=== Accelerometer bias limit (EK3_ACC_BIAS_LIM) ===

The accelerometer bias state will be limited to +- this value

• Range: 0.5 2.5
• Increment: 0.1
• Units: meters per square second

=== Bitmask of active EKF cores that will always use heading fusion (EK3_MAG_MASK) ===

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: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF
• !RebootRequired: True

=== Bitmask control of EKF reference height correction (EK3_OGN_HGT_MASK) ===

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: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position
• !RebootRequired: True

=== Visual odometry minimum velocity error (EK3_VIS_VERR_MIN) ===

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: 0.05 0.5
• Increment: 0.05
• Units: meters per second

=== Visual odometry maximum velocity error (EK3_VIS_VERR_MAX) ===

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: 0.5 5.0
• Increment: 0.1
• Units: meters per second

=== Wheel odometry velocity error (EK3_WENC_VERR) ===

This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.

• Range: 0.01 1.0
• Increment: 0.1
• Units: meters per second

== FENCE_ Parameters ==

=== Fence enable/disable (FENCE_ENABLE) ===

Allows you to enable (1) or disable (0) the fence functionality

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Fence Type (FENCE_TYPE) ===

Enabled fence types held as bitmask

• Bitmask: 0:Altitude,1:Circle,2:Polygon
• Values || Value || Meaning || || 0 || None || || 1 || Altitude || || 2 || Circle || || 3 || Altitude and Circle || || 4 || Polygon || || 5 || Altitude and Polygon || || 6 || Circle and Polygon || || 7 || All ||

=== 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 Maximum Altitude (FENCE_ALT_MAX) ===

Maximum altitude allowed before geofence triggers

• Range: 10 1000
• Increment: 1
• Units: meters

=== Circular Fence Radius (FENCE_RADIUS) ===

Circle fence radius which when breached will cause an RTL

• Range: 30 10000
• Units: meters

=== Fence Margin (FENCE_MARGIN) ===

Distance that autopilot's should maintain from the fence to avoid a breach

• Range: 1 10
• Units: meters

=== Fence polygon point total (FENCE_TOTAL) ===

Number of polygon points saved in eeprom (do not update manually)

• Range: 1 20

=== Fence Minimum Altitude (FENCE_ALT_MIN) ===

Minimum altitude allowed before geofence triggers

• Range: -100 100
• Increment: 1
• Units: meters

== FHLD Parameters ==

=== !FlowHold P gain (FHLD_XY_P) ===

FlowHold (horizontal) P gain.

• Range: 0.1 6.0
• Increment: 0.1

=== !FlowHold I gain (FHLD_XY_I) ===

FlowHold (horizontal) I gain

• Range: 0.02 1.00
• Increment: 0.01

=== !FlowHold Integrator Max (FHLD_XY_IMAX) ===

FlowHold (horizontal) integrator maximum

• Range: 0 4500
• Increment: 10
• Units: centidegrees

=== !FlowHold Flow Rate Max (FHLD_FLOW_MAX) ===

Controls maximum apparent flow rate in flowhold

• Range: 0.1 2.5

=== !FlowHold Filter Frequency (FHLD_FILT_HZ) ===

Filter frequency for flow data

• Range: 1 100
• Units: hertz

=== !FlowHold Flow quality minimum (FHLD_QUAL_MIN) ===

Minimum flow quality to use flow position hold

• Range: 0 255

=== !FlowHold Braking rate (FHLD_BRAKE_RATE) ===

Controls deceleration rate on stick release

• Range: 1 30
• Units: degrees per second

== FLOW Parameters ==

=== Optical flow enable/disable (FLOW_ENABLE) ===

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 ||

=== X axis optical flow scale factor correction (FLOW_FXSCALER) ===

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: -200 +200
• Increment: 1

=== Y axis optical flow scale factor correction (FLOW_FYSCALER) ===

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: -200 +200
• Increment: 1

=== Flow sensor yaw alignment (FLOW_ORIENT_YAW) ===

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: -18000 +18000
• Increment: 1

=== X position offset (FLOW_POS_X) ===

X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.

• Units: meters

=== Y position offset (FLOW_POS_Y) ===

Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.

• Units: meters

=== Z position offset (FLOW_POS_Z) ===

Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.

• Units: meters

=== Address on the bus (FLOW_ADDR) ===

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

== FOLL Parameters ==

=== Follow enable/disable (FOLL_ENABLE) ===

Enabled/disable following a target

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Follow target's mavlink system id (FOLL_SYSID) ===

Follow target's mavlink system id

• Range: 0 255

=== Follow distance maximum (FOLL_DIST_MAX) ===

Follow distance maximum. targets further than this will be ignored

• Range: 1 1000
• Units: meters

=== Follow offset type (FOLL_OFS_TYPE) ===

Follow offset type

• Values || Value || Meaning || || 0 || North-East-Down || || 1 || Relative to lead vehicle heading ||

=== Follow offsets in meters north/forward (FOLL_OFS_X) ===

Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE

• Range: -100 100
• Increment: 1
• Units: meters

=== Follow offsets in meters east/right (FOLL_OFS_Y) ===

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: -100 100
• Increment: 1
• Units: meters

=== Follow offsets in meters down (FOLL_OFS_Z) ===

Follow offsets in meters down. If positive, this vehicle fly below the lead vehicle

• Range: -100 100
• Increment: 1
• Units: meters

=== Follow yaw behaviour (FOLL_YAW_BEHAVE) ===

Follow yaw behaviour

• Values || Value || Meaning || || 0 || None || || 1 || Face Lead Vehicle || || 2 || Same as Lead vehicle || || 3 || Direction of Flight ||

=== Follow position error P gain (FOLL_POS_P) ===

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: 0.01 1.00
• Increment: 0.01

=== Follow altitude type (FOLL_ALT_TYPE) ===

Follow altitude type

• Values || Value || Meaning || || 0 || absolute || || 1 || relative ||

== GND_ Parameters ==

=== Absolute Pressure (GND_ABS_PRESS) ===

calibrated ground pressure in Pascals

• !ReadOnly: True
• Volatile: True
• Increment: 1
• Units: pascal

=== ground temperature (GND_TEMP) ===

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: True
• Increment: 1
• Units: degrees Celsius

=== altitude offset (GND_ALT_OFFSET) ===

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: 0.1
• Units: meters

=== Primary barometer (GND_PRIMARY) ===

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

• Values || Value || Meaning || || 0 || !FirstBaro || || 1 || 2ndBaro || || 2 || 3rdBaro ||

=== External baro bus (GND_EXT_BUS) ===

This selects the bus number for looking for an I2C barometer

• Values || Value || Meaning || || -1 || Disabled || || 0 || Bus0 || || 1 || Bus1 ||

=== Specific Gravity (For water depth measurement) (GND_SPEC_GRAV) ===

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

• Values: 1.0:Freshwater,1.024:Saltwater

=== Absolute Pressure (GND_ABS_PRESS2) ===

calibrated ground pressure in Pascals

• !ReadOnly: True
• Volatile: True
• Increment: 1
• Units: pascal

=== Absolute Pressure (GND_ABS_PRESS3) ===

calibrated ground pressure in Pascals

• !ReadOnly: True
• Volatile: True
• Increment: 1
• Units: pascal

=== Range in which sample is accepted (GND_FLTR_RNG) ===

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: 0 100
• Increment: 1
• Units: percent

== GPS_ Parameters ==

=== GPS type (GPS_TYPE) ===

GPS type

• Values || 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 ||
• !RebootRequired: True

=== 2nd GPS type (GPS_TYPE2) ===

GPS type of 2nd GPS

• Values || 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 ||
• !RebootRequired: True

=== Navigation filter setting (GPS_NAVFILTER) ===

Navigation filter engine setting

• Values || Value || Meaning || || 0 || Portable || || 2 || Stationary || || 3 || Pedestrian || || 4 || Automotive || || 5 || Sea || || 6 || Airborne1G || || 7 || Airborne2G || || 8 || Airborne4G ||

=== Automatic Switchover Setting (GPS_AUTO_SWITCH) ===

Automatic switchover to GPS reporting best lock

• Values || Value || Meaning || || 0 || Disabled || || 1 || !UseBest || || 2 || Blend ||

=== Minimum Lock Type Accepted for DGPS (GPS_MIN_DGPS) ===

Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.

• Values || Value || Meaning || || 0 || Any || || 50 || !FloatRTK || || 100 || !IntegerRTK ||
• !RebootRequired: True

=== SBAS Mode (GPS_SBAS_MODE) ===

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 ||

=== Minimum elevation (GPS_MIN_ELEV) ===

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: -100 90
• Units: degrees

=== Destination for GPS_INJECT_DATA MAVLink packets (GPS_INJECT_TO) ===

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 ||

=== Swift Binary Protocol Logging Mask (GPS_SBP_LOGMASK) ===

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) ||

=== Raw data logging (GPS_RAW_DATA) ===

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 || Value || Meaning || || 0 || Ignore || || 1 || Always log || || 2 || Stop logging when disarmed (SBF only) || || 5 || Only log every five samples (uBlox only) ||
• !RebootRequired: True

=== GNSS system configuration (GPS_GNSS_MODE) ===

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)

• Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS
• Values || Value || Meaning || || 0 || Leave as currently configured || || 1 || GPS-NoSBAS || || 3 || GPS+SBAS || || 4 || Galileo-NoSBAS || || 6 || Galileo+SBAS || || 8 || Beidou || || 51 || GPS+IMES+QZSS+SBAS (Japan Only) || || 64 || GLONASS || || 66 || GLONASS+SBAS || || 67 || GPS+GLONASS+SBAS ||

=== Save GPS configuration (GPS_SAVE_CFG) ===

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 ||

=== GNSS system configuration (GPS_GNSS_MODE2) ===

Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)

• Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS
• Values || Value || Meaning || || 0 || Leave as currently configured || || 1 || GPS-NoSBAS || || 3 || GPS+SBAS || || 4 || Galileo-NoSBAS || || 6 || Galileo+SBAS || || 8 || Beidou || || 51 || GPS+IMES+QZSS+SBAS (Japan Only) || || 64 || GLONASS || || 66 || GLONASS+SBAS || || 67 || GPS+GLONASS+SBAS ||

=== Automatic GPS configuration (GPS_AUTO_CONFIG) ===

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 update rate in milliseconds (GPS_RATE_MS) ===

Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed

• Range: 50 200
• Values || Value || Meaning || || 100 || 10Hz || || 125 || 8Hz || || 200 || 5Hz ||
• Units: milliseconds

=== GPS 2 update rate in milliseconds (GPS_RATE_MS2) ===

Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed

• Range: 50 200
• Values || Value || Meaning || || 100 || 10Hz || || 125 || 8Hz || || 200 || 5Hz ||
• Units: milliseconds

=== Antenna X position offset (GPS_POS1_X) ===

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

=== Antenna Y position offset (GPS_POS1_Y) ===

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

=== Antenna Z position offset (GPS_POS1_Z) ===

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

=== Antenna X position offset (GPS_POS2_X) ===

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

=== Antenna Y position offset (GPS_POS2_Y) ===

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

=== Antenna Z position offset (GPS_POS2_Z) ===

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 in milliseconds (GPS_DELAY_MS) ===

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: 0 250
• Units: milliseconds
• !RebootRequired: True

=== GPS 2 delay in milliseconds (GPS_DELAY_MS2) ===

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: 0 250
• Units: milliseconds
• !RebootRequired: True

=== Multi GPS Blending Mask (GPS_BLEND_MASK) ===

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: 0:Horiz Pos,1:Vert Pos,2:Speed

=== Blending time constant (GPS_BLEND_TC) ===

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: 5.0 30.0
• Units: seconds

== GRIP_ Parameters ==

=== Gripper Enable/Disable (GRIP_ENABLE) ===

Gripper enable/disable

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Gripper Type (GRIP_TYPE) ===

Gripper enable/disable

• Values || Value || Meaning || || 0 || None || || 1 || Servo || || 2 || EPM ||

=== Gripper Grab PWM (GRIP_GRAB) ===

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

• Range: 1000 2000
• Units: PWM in microseconds

=== Gripper Release PWM (GRIP_RELEASE) ===

PWM value in microseconds sent to Gripper to release the cargo

• Range: 1000 2000
• Units: PWM in microseconds

=== Neutral PWM (GRIP_NEUTRAL) ===

PWM value in microseconds sent to grabber when not grabbing or releasing

• Range: 1000 2000
• Units: PWM in microseconds

=== Gripper Regrab interval (GRIP_REGRAB) ===

Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable

• Range: 0 255
• Units: seconds

=== EPM UAVCAN Hardpoint ID (GRIP_UAVCAN_ID) ===

Refer to https:/``/docs.zubax.com/opengrab_epm_v3#UAVCAN_interface

• Range: 0 255

== H_ Parameters ==

=== Collective Zero Thrust (H_COL_MID) ===

Swash servo position corresponding to zero collective pitch (or zero thrust for asymmetric blades)

• Range: 1000 2000
• Increment: 1
• Units: PWM in microseconds

=== Collective Minimum (H_COL_MIN) ===

Minimum blade pitch. Must be set for proper autorotation performance at best autorotation airspeed

• Range: 1000 2000
• Increment: 1
• Units: PWM in microseconds

=== Collective Maximum (H_COL_MAX) ===

Maximum blade pitch. Must be set to correspond with maximum available engine torque at full collective climb

• Range: 1000 2000
• Increment: 1
• Units: PWM in microseconds

=== Collective-Yaw Mixing (H_COL_YAW) ===

Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.

• Range: -10 10
• Increment: 0.1

=== Cyclic Degrees (H_CYCLIC_DEG) ===

Cyclic tilt angle of the swashplate. Normally set this to whatever it takes to get 7-8 degrees of cyclic pitch

• Range: 0 45
• Increment: 1
• Units: degrees

=== Engine #1 Droop Response (H_GOV_DROOP) ===

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: 10 50
• Increment: 1
• Units: percent

=== Governor Torque Limiter (H_GOV_TORQUE) ===

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: 10 60
• Increment: 1
• Units: percent

=== Engine #1 TCGain (H_GOV_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: 0 100
• Increment: 1
• Units: percent

=== Critical Rotor Speed (H_ROTOR_CRITICAL) ===

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: 50 95
• Increment: 1
• Units: percent

=== Headspeed RPM (H_ROTOR_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: 500 2500
• Increment: 10

=== Rotor Runup Time (H_ROTOR_RUNUP) ===

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: 0 60
• Units: seconds

=== Swashplate Setup (H_SWASH_SETUP) ===

Manual servo override for swashplate setup only

• Values || Value || Meaning || || 0 || Disabled || || 1 || Passthrough || || 2 || Max collective || || 3 || Mid collective || || 4 || Min collective ||

=== Engine Ground Idle (H_THROTTLE_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: 0 55
• Increment: 1

=== Engine #1 P1 (H_THROTTLE_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: 0 100
• Increment: 1

=== Engine #1 P2 (H_THROTTLE_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: 0 100
• Increment: 1

=== Engine #1 P3 (H_THROTTLE_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: 0 100
• Increment: 1

=== Engine #1 P4 (H_THROTTLE_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: 0 100
• Increment: 1

=== Engine #1 P5 (H_THROTTLE_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: 0 100
• Increment: 1

=== Throttle Ramp Time (H_THROTTLE_RAMP) ===

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: 0 60
• Units: seconds

=== Number of Engines (H_NUM_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 ||

=== Engine #2 Droop Response (H_GOV2_DROOP) ===

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: 10 50
• Increment: 1
• Units: percent

=== Engine #2 TCGain (H_GOV2_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: 0 100
• Increment: 1
• Units: percent

=== Engine #2 P1 (H_THROTTLE2_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: 0 100
• Increment: 1

=== Engine #2 P2 (H_THROTTLE2_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: 0 100
• Increment: 1

=== Engine #2 P3 (H_THROTTLE2_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: 0 100
• Increment: 1

=== Engine #2 P4 (H_THROTTLE2_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: 0 100
• Increment: 1

=== Engine #2 P5 (H_THROTTLE2_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: 0 100
• Increment: 1

== H_SWASH Parameters ==

=== Swashplate Type (H_SWASHTYPE) ===

_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 ||

=== Collective Control Direction (H_SWASHCOLL_DIR) ===

Direction collective moves to increase blade pitch. 0 for Normal, 1 for Reversed

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Linearize swashplate servo mechanical throw (H_SWASHLINEAR) ===

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 ||

== IM_ Parameters ==

=== Stick At Bottom (IM_STAB_COL_1) ===

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: 0 30
• Increment: 1
• Units: percent

=== Stick at 40% (IM_STAB_COL_2) ===

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: 30 65
• Increment: 1
• Units: percent

=== Stick at 60% (IM_STAB_COL_3) ===

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: 50 85
• Increment: 1
• Units: percent

=== Stick At Top (IM_STAB_COL_4) ===

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: 85 100
• Increment: 1
• Units: percent

=== Acro Mode Collective Expo (IM_ACRO_COL_EXP) ===

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 ||

== INS_ Parameters ==

=== IMU Product ID (INS_PRODUCT_ID) ===

unused

=== Gyro offsets of X axis (INS_GYROFFS_X) ===

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

• Units: radians per second

=== Gyro offsets of Y axis (INS_GYROFFS_Y) ===

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

• Units: radians per second

=== Gyro offsets of Z axis (INS_GYROFFS_Z) ===

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

• Units: radians per second

=== Gyro2 offsets of X axis (INS_GYR2OFFS_X) ===

Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations

• Units: radians per second

=== Gyro2 offsets of Y axis (INS_GYR2OFFS_Y) ===

Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

• Units: radians per second

=== Gyro2 offsets of Z axis (INS_GYR2OFFS_Z) ===

Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

• Units: radians per second

=== Gyro3 offsets of X axis (INS_GYR3OFFS_X) ===

Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations

• Units: radians per second

=== Gyro3 offsets of Y axis (INS_GYR3OFFS_Y) ===

Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

• Units: radians per second

=== Gyro3 offsets of Z axis (INS_GYR3OFFS_Z) ===

Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

• Units: radians per second

=== Accelerometer scaling of X axis (INS_ACCSCAL_X) ===

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

• Range: 0.8 1.2

=== Accelerometer scaling of Y axis (INS_ACCSCAL_Y) ===

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

• Range: 0.8 1.2

=== Accelerometer scaling of Z axis (INS_ACCSCAL_Z) ===

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

• Range: 0.8 1.2

=== Accelerometer offsets of X axis (INS_ACCOFFS_X) ===

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5
• Units: meters per square second

=== Accelerometer offsets of Y axis (INS_ACCOFFS_Y) ===

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5
• Units: meters per square second

=== Accelerometer offsets of Z axis (INS_ACCOFFS_Z) ===

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5
• Units: meters per square second

=== Accelerometer2 scaling of X axis (INS_ACC2SCAL_X) ===

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

• Range: 0.8 1.2

=== Accelerometer2 scaling of Y axis (INS_ACC2SCAL_Y) ===

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

• Range: 0.8 1.2

=== Accelerometer2 scaling of Z axis (INS_ACC2SCAL_Z) ===

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

• Range: 0.8 1.2

=== Accelerometer2 offsets of X axis (INS_ACC2OFFS_X) ===

Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5
• Units: meters per square second

=== Accelerometer2 offsets of Y axis (INS_ACC2OFFS_Y) ===

Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5
• Units: meters per square second

=== Accelerometer2 offsets of Z axis (INS_ACC2OFFS_Z) ===

Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5
• Units: meters per square second

=== Accelerometer3 scaling of X axis (INS_ACC3SCAL_X) ===

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

• Range: 0.8 1.2

=== Accelerometer3 scaling of Y axis (INS_ACC3SCAL_Y) ===

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

• Range: 0.8 1.2

=== Accelerometer3 scaling of Z axis (INS_ACC3SCAL_Z) ===

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

• Range: 0.8 1.2

=== Accelerometer3 offsets of X axis (INS_ACC3OFFS_X) ===

Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5
• Units: meters per square second

=== Accelerometer3 offsets of Y axis (INS_ACC3OFFS_Y) ===

Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5
• Units: meters per square second

=== Accelerometer3 offsets of Z axis (INS_ACC3OFFS_Z) ===

Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5
• Units: meters per square second

=== Gyro filter cutoff frequency (INS_GYRO_FILTER) ===

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: 0 127
• Units: hertz

=== Accel filter cutoff frequency (INS_ACCEL_FILTER) ===

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: 0 127
• Units: hertz

=== Use first IMU for attitude, velocity and position estimates (INS_USE) ===

Use first IMU for attitude, velocity and position estimates

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Use second IMU for attitude, velocity and position estimates (INS_USE2) ===

Use second IMU for attitude, velocity and position estimates

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Use third IMU for attitude, velocity and position estimates (INS_USE3) ===

Use third IMU for attitude, velocity and position estimates

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Stillness threshold for detecting if we are moving (INS_STILL_THRESH) ===

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

=== Gyro Calibration scheme (INS_GYR_CAL) ===

Conrols when automatic gyro calibration is performed

• Values || Value || Meaning || || 0 || Never || || 1 || Start-up only ||

=== Accel cal trim option (INS_TRIM_OPTION) ===

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 ||

=== Body-fixed accelerometer (INS_ACC_BODYFIX) ===

The body-fixed accelerometer to be used for trim calculation

• Values || Value || Meaning || || 1 || IMU 1 || || 2 || IMU 2 || || 3 || IMU 3 ||

=== IMU accelerometer X position (INS_POS1_X) ===

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

=== IMU accelerometer Y position (INS_POS1_Y) ===

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

=== IMU accelerometer Z position (INS_POS1_Z) ===

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

=== IMU accelerometer X position (INS_POS2_X) ===

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

=== IMU accelerometer Y position (INS_POS2_Y) ===

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

=== IMU accelerometer Z position (INS_POS2_Z) ===

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

=== IMU accelerometer X position (INS_POS3_X) ===

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

=== IMU accelerometer Y position (INS_POS3_Y) ===

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

=== IMU accelerometer Z position (INS_POS3_Z) ===

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

=== Gyro ID (INS_GYR_ID) ===

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

• !ReadOnly: True

=== Gyro2 ID (INS_GYR2_ID) ===

Gyro2 sensor ID, taking into account its type, bus and instance

• !ReadOnly: True

=== Gyro3 ID (INS_GYR3_ID) ===

Gyro3 sensor ID, taking into account its type, bus and instance

• !ReadOnly: True

=== Accelerometer ID (INS_ACC_ID) ===

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

• !ReadOnly: True

=== Accelerometer2 ID (INS_ACC2_ID) ===

Accelerometer2 sensor ID, taking into account its type, bus and instance

• !ReadOnly: True

=== Accelerometer3 ID (INS_ACC3_ID) ===

Accelerometer3 sensor ID, taking into account its type, bus and instance

• !ReadOnly: True

=== Fast sampling mask (INS_FAST_SAMPLE) ===

Mask of IMUs to enable fast sampling on, if available

• Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU
• Values || Value || Meaning || || 1 || !FirstIMUOnly || || 3 || !FirstAndSecondIMU ||

== INS_LOG_ Parameters ==

=== sample count per batch (INS_LOG_BAT_CNT) ===

Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32.

• Increment: 32

=== Sensor Bitmask (INS_LOG_BAT_MASK) ===

Bitmap of which IMUs to log batch data for

• Bitmask: 0:IMU1,1:IMU2,2:IMU3
• Values || Value || Meaning || || 0 || None || || 1 || First IMU || || 255 || All ||

=== Batch Logging Options Mask (INS_LOG_BAT_OPT) ===

Options for the BatchSampler

• Bitmask: 0:Sensor-Rate Logging (sample at full sensor rate seen by AP)

=== logging interval (INS_LOG_BAT_LGIN) ===

Interval between pushing samples to the DataFlash log

• Units: milliseconds
• Increment: 10

=== logging count (INS_LOG_BAT_LGCT) ===

Number of samples to push to count every INS_LOG_BAT_LGIN

• Increment: 1

== INS_NOTCH_ Parameters ==

=== Enable (INS_NOTCH_ENABLE) ===

Enable notch filter

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Frequency (INS_NOTCH_FREQ) ===

Notch center frequency in Hz

• Range: 10 200
• Units: hertz

=== Bandwidth (INS_NOTCH_BW) ===

Notch bandwidth in Hz

• Range: 5 50
• Units: hertz

=== Attenuation (INS_NOTCH_ATT) ===

Notch attenuation in dB

• Range: 5 30
• Units: decibel

== LGR_ Parameters ==

=== Landing Gear Servo Retracted PWM Value (LGR_SERVO_RTRACT) ===

Servo PWM value in microseconds when landing gear is retracted

• Range: 1000 2000
• Increment: 1
• Units: PWM in microseconds

=== Landing Gear Servo Deployed PWM Value (LGR_SERVO_DEPLOY) ===

Servo PWM value in microseconds when landing gear is deployed

• Range: 1000 2000
• Increment: 1
• Units: PWM in microseconds

=== Landing Gear Startup position (LGR_STARTUP) ===

Landing Gear Startup behaviour control

• Values || Value || Meaning || || 0 || !WaitForPilotInput || || 1 || Retract || || 2 || Deploy ||

== LOG Parameters ==

=== !DataFlash Backend Storage type (LOG_BACKEND_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 ||

=== Maximum DataFlash File Backend buffer size (in kilobytes) (LOG_FILE_BUFSIZE) ===

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.

=== Enable logging while disarmed (LOG_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 ||

=== Enable logging of information needed for Replay (LOG_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 ||

=== Stop logging to current file on disarm (LOG_FILE_DSRMROT) ===

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 ||

=== Maximum DataFlash MAVLink Backend buffer size (LOG_MAV_BUFSIZE) ===

Maximum amount of memory to allocate to DataFlash-over-mavlink

• Units: kilobytes

== LOIT_ Parameters ==

=== Loiter Angle Max (LOIT_ANG_MAX) ===

Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX

• Range: 0 45
• Increment: 1
• Units: degrees

=== Loiter Horizontal Maximum Speed (LOIT_SPEED) ===

Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode

• Range: 20 2000
• Increment: 50
• Units: centimeters per second

=== Loiter maximum correction acceleration (LOIT_ACC_MAX) ===

Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.

• Range: 100 981
• Increment: 1
• Units: centimeters per square second

=== Loiter braking acceleration (LOIT_BRK_ACCEL) ===

Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.

• Range: 25 250
• Increment: 1
• Units: centimeters per square second

=== Loiter braking jerk (LOIT_BRK_JERK) ===

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: 500 5000
• Increment: 1
• Units: centimeters per cubic second

=== Loiter brake start delay (in seconds) (LOIT_BRK_DELAY) ===

Loiter brake start delay (in seconds)

• Range: 0 2
• Increment: 0.1
• Units: seconds

== MIS_ Parameters ==

=== Total mission commands (MIS_TOTAL) ===

The number of mission mission items that has been loaded by the ground station. Do not change this manually.

• Range: 0 32766
• Increment: 1

=== Mission Restart when entering Auto mode (MIS_RESTART) ===

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 ||

=== Mission options bitmask (MIS_OPTIONS) ===

Bitmask of what options to use in missions.

• Bitmask: 0:Clear Mission on reboot

== MNT Parameters ==

=== Mount default operating mode (MNT_DEFLT_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 ||

=== Mount roll angle when in retracted position (MNT_RETRACT_X) ===

Mount roll angle when in retracted position

• Range: -180.00 179.99
• Increment: 1
• Units: degrees

=== Mount tilt/pitch angle when in retracted position (MNT_RETRACT_Y) ===

Mount tilt/pitch angle when in retracted position

• Range: -180.00 179.99
• Increment: 1
• Units: degrees

=== Mount yaw/pan angle when in retracted position (MNT_RETRACT_Z) ===

Mount yaw/pan angle when in retracted position

• Range: -180.00 179.99
• Increment: 1
• Units: degrees

=== Mount roll angle when in neutral position (MNT_NEUTRAL_X) ===

Mount roll angle when in neutral position

• Range: -180.00 179.99
• Increment: 1
• Units: degrees

=== Mount tilt/pitch angle when in neutral position (MNT_NEUTRAL_Y) ===

Mount tilt/pitch angle when in neutral position

• Range: -180.00 179.99
• Increment: 1
• Units: degrees

=== Mount pan/yaw angle when in neutral position (MNT_NEUTRAL_Z) ===

Mount pan/yaw angle when in neutral position

• Range: -180.00 179.99
• Increment: 1
• Units: degrees

=== Stabilize mount's roll angle (MNT_STAB_ROLL) ===

enable roll stabilisation relative to Earth

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Stabilize mount's pitch/tilt angle (MNT_STAB_TILT) ===

enable tilt/pitch stabilisation relative to Earth

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Stabilize mount pan/yaw angle (MNT_STAB_PAN) ===

enable pan/yaw stabilisation relative to Earth

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== roll RC input channel (MNT_RC_IN_ROLL) ===

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 ||

=== Minimum roll angle (MNT_ANGMIN_ROL) ===

Minimum physical roll angular position of mount.

• Range: -18000 17999
• Increment: 1
• Units: centidegrees

=== Maximum roll angle (MNT_ANGMAX_ROL) ===

Maximum physical roll angular position of the mount

• Range: -18000 17999
• Increment: 1
• Units: centidegrees

=== tilt (pitch) RC input channel (MNT_RC_IN_TILT) ===

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 ||

=== Minimum tilt angle (MNT_ANGMIN_TIL) ===

Minimum physical tilt (pitch) angular position of mount.

• Range: -18000 17999
• Increment: 1
• Units: centidegrees

=== Maximum tilt angle (MNT_ANGMAX_TIL) ===

Maximum physical tilt (pitch) angular position of the mount

• Range: -18000 17999
• Increment: 1
• Units: centidegrees

=== pan (yaw) RC input channel (MNT_RC_IN_PAN) ===

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 ||

=== Minimum pan angle (MNT_ANGMIN_PAN) ===

Minimum physical pan (yaw) angular position of mount.

• Range: -18000 17999
• Increment: 1
• Units: centidegrees

=== Maximum pan angle (MNT_ANGMAX_PAN) ===

Maximum physical pan (yaw) angular position of the mount

• Range: -18000 17999
• Increment: 1
• Units: centidegrees

=== mount joystick speed (MNT_JSTICK_SPD) ===

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: 0 100
• Increment: 1

=== Roll stabilization lead time (MNT_LEAD_RLL) ===

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: 0.0 0.2
• Increment: .005
• Units: seconds

=== Pitch stabilization lead time (MNT_LEAD_PTCH) ===

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: 0.0 0.2
• Increment: .005
• Units: seconds

=== Mount Type (MNT_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 ||
• !RebootRequired: True

=== Mount default operating mode (MNT2_DEFLT_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 ||

=== Mount2 roll angle when in retracted position (MNT2_RETRACT_X) ===

Mount2 roll angle when in retracted position

• Range: -180.00 179.99
• Increment: 1
• Units: degrees

=== Mount2 tilt/pitch angle when in retracted position (MNT2_RETRACT_Y) ===

Mount2 tilt/pitch angle when in retracted position

• Range: -180.00 179.99
• Increment: 1
• Units: degrees

=== Mount2 yaw/pan angle when in retracted position (MNT2_RETRACT_Z) ===

Mount2 yaw/pan angle when in retracted position

• Range: -180.00 179.99
• Increment: 1
• Units: degrees

=== Mount2 roll angle when in neutral position (MNT2_NEUTRAL_X) ===

Mount2 roll angle when in neutral position

• Range: -180.00 179.99
• Increment: 1
• Units: degrees

=== Mount2 tilt/pitch angle when in neutral position (MNT2_NEUTRAL_Y) ===

Mount2 tilt/pitch angle when in neutral position

• Range: -180.00 179.99
• Increment: 1
• Units: degrees

=== Mount2 pan/yaw angle when in neutral position (MNT2_NEUTRAL_Z) ===

Mount2 pan/yaw angle when in neutral position

• Range: -180.00 179.99
• Increment: 1
• Units: degrees

=== Stabilize Mount2's roll angle (MNT2_STAB_ROLL) ===

enable roll stabilisation relative to Earth

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Stabilize Mount2's pitch/tilt angle (MNT2_STAB_TILT) ===

enable tilt/pitch stabilisation relative to Earth

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Stabilize mount2 pan/yaw angle (MNT2_STAB_PAN) ===

enable pan/yaw stabilisation relative to Earth

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Mount2's roll RC input channel (MNT2_RC_IN_ROLL) ===

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 ||

=== Mount2's minimum roll angle (MNT2_ANGMIN_ROL) ===

Mount2's minimum physical roll angular position

• Range: -18000 17999
• Increment: 1
• Units: centidegrees

=== Mount2's maximum roll angle (MNT2_ANGMAX_ROL) ===

Mount2's maximum physical roll angular position

• Range: -18000 17999
• Increment: 1
• Units: centidegrees

=== Mount2's tilt (pitch) RC input channel (MNT2_RC_IN_TILT) ===

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 ||

=== Mount2's minimum tilt angle (MNT2_ANGMIN_TIL) ===

Mount2's minimum physical tilt (pitch) angular position

• Range: -18000 17999
• Increment: 1
• Units: centidegrees

=== Mount2's maximum tilt angle (MNT2_ANGMAX_TIL) ===

Mount2's maximum physical tilt (pitch) angular position

• Range: -18000 17999
• Increment: 1
• Units: centidegrees

=== Mount2's pan (yaw) RC input channel (MNT2_RC_IN_PAN) ===

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 ||

=== Mount2's minimum pan angle (MNT2_ANGMIN_PAN) ===

Mount2's minimum physical pan (yaw) angular position

• Range: -18000 17999
• Increment: 1
• Units: centidegrees

=== Mount2's maximum pan angle (MNT2_ANGMAX_PAN) ===

MOunt2's maximum physical pan (yaw) angular position

• Range: -18000 17999
• Increment: 1
• Units: centidegrees

=== Mount2's Roll stabilization lead time (MNT2_LEAD_RLL) ===

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: 0.0 0.2
• Increment: .005
• Units: seconds

=== Mount2's Pitch stabilization lead time (MNT2_LEAD_PTCH) ===

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: 0.0 0.2
• Increment: .005
• Units: seconds

=== Mount2 Type (MNT2_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 ||

== MOT_ Parameters ==

=== Matrix Yaw Min (MOT_YAW_HEADROOM) ===

Yaw control is given at least this pwm in microseconds range

• Range: 0 500
• Units: PWM in microseconds

=== Thrust Curve Expo (MOT_THST_EXPO) ===

Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)

• Range: 0.25 0.8

=== Motor Spin maximum (MOT_SPIN_MAX) ===

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

=== Battery voltage compensation maximum voltage (MOT_BAT_VOLT_MAX) ===

Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.4 * cell count, 0 = Disabled

• Range: 6 35
• Units: volt

=== Battery voltage compensation minimum voltage (MOT_BAT_VOLT_MIN) ===

Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled

• Range: 6 35
• Units: volt

=== Motor Current Max (MOT_BAT_CURR_MAX) ===

Maximum current over which maximum throttle is limited (0 = Disabled)

• Range: 0 200
• Units: ampere

=== Output PWM type (MOT_PWM_TYPE) ===

This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output

• Values || Value || Meaning || || 0 || Normal || || 1 || !OneShot || || 2 || !OneShot125 || || 3 || Brushed || || 4 || DShot150 || || 5 || DShot300 || || 6 || DShot600 || || 7 || DShot1200 ||
• !RebootRequired: True

=== PWM output miniumum (MOT_PWM_MIN) ===

This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN

• Range: 0 2000
• Units: PWM in microseconds

=== PWM output maximum (MOT_PWM_MAX) ===

This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX

• Range: 0 2000
• Units: PWM in microseconds

=== Motor Spin minimum (MOT_SPIN_MIN) ===

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

=== Motor Spin armed (MOT_SPIN_ARM) ===

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

=== Motor Current Max Time Constant (MOT_BAT_CURR_TC) ===

Time constant used to limit the maximum current

• Range: 0 10
• Units: seconds

=== Thrust Hover Value (MOT_THST_HOVER) ===

Motor thrust needed to hover expressed as a number from 0 to 1

• Range: 0.2 0.8

=== Hover Value Learning (MOT_HOVER_LEARN) ===

Enable/Disable automatic learning of hover throttle

• Values || Value || Meaning || || 0 || Disabled || || 1 || Learn || || 2 || !LearnAndSave ||

=== Motor PWM output disabled when disarmed (MOT_SAFE_DISARM) ===

Disables motor PWM output when disarmed

• Values || Value || Meaning || || 0 || PWM enabled while disarmed || || 1 || PWM disabled while disarmed ||

=== Yaw Servo Max Lean Angle (MOT_YAW_SV_ANGLE) ===

Yaw servo's maximum lean angle

• Range: 5 80
• Increment: 1
• Units: degrees

=== Spool up time (MOT_SPOOL_TIME) ===

_Time in seconds to spool up the motors from zero to min throttle. _

• Range: 0 2
• Increment: 0.1
• Units: seconds

=== Motor boost scale (MOT_BOOST_SCALE) ===

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: 0 5
• Increment: 0.1

=== Battery compensation index (MOT_BAT_IDX) ===

Which battery monitor should be used for doing compensation

• Values || Value || Meaning || || 0 || First battery || || 1 || Second battery ||

== NTF_ Parameters ==

=== LED Brightness (NTF_LED_BRIGHT) ===

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 ||

=== Buzzer enable (NTF_BUZZ_ENABLE) ===

Enable or disable the buzzer. Only for Linux and PX4 based boards.

• Values || Value || Meaning || || 0 || Disable || || 1 || Enable ||

=== Setup for MAVLink LED override (NTF_LED_OVERRIDE) ===

This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled

• Values || Value || Meaning || || 0 || Disable || || 1 || Enable ||

=== Type of on-board I2C display (NTF_DISPLAY_TYPE) ===

This sets up the type of on-board I2C display. Disabled by default.

• Values || Value || Meaning || || 0 || Disable || || 1 || ssd1306 || || 2 || sh1106 ||

=== !OreoLED Theme (NTF_OREO_THEME) ===

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 ||

=== Buzzer pin (NTF_BUZZ_PIN) ===

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!

• Values || Value || Meaning || || 0 || Disabled ||

=== LED Driver Types (NTF_LED_TYPES) ===

Controls what types of LEDs will be enabled

• Bitmask: 0:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal

== OSD Parameters ==

=== OSD type (OSD_TYPE) ===

OSD type

• Values || Value || Meaning || || 0 || None || || 1 || MAX7456 ||
• !RebootRequired: True

=== Screen switch transmitter channel (OSD_CHAN) ===

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) ===

This sets options that change the display

• Bitmask: 0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll

=== 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 vertical offset (OSD_V_OFFSET) ===

Sets vertical offset of the osd inside image

• Range: 0 31
• !RebootRequired: True

=== OSD horizontal offset (OSD_H_OFFSET) ===

Sets horizontal offset of the osd inside image

• Range: 0 63
• !RebootRequired: True

=== RSSI warn level (in %) (OSD_W_RSSI) ===

Set level at which RSSI item will flash

• Range: 0 99

=== NSAT warn level (OSD_W_NSAT) ===

Set level at which NSAT item will flash

• Range: 1 30

=== BAT_VOLT warn level (OSD_W_BATVOLT) ===

Set level at which BAT_VOLT item will flash

• Range: 0 100

=== Display Units (OSD_UNITS) ===

Sets the units to use in displaying items

• Values || Value || Meaning || || 0 || Metric || || 1 || Imperial || || 2 || SI || || 3 || Aviation ||

=== Message display duration in seconds (OSD_MSG_TIME) ===

Sets message duration seconds

• Range: 1 20

== OSD1_ Parameters ==

=== Enable screen (OSD1_ENABLE) ===

Enable this screen

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Transmitter switch screen minimum pwm (OSD1_CHAN_MIN) ===

This sets the PWM lower limit for this screen

• Range: 900 2100

=== Transmitter switch screen maximum pwm (OSD1_CHAN_MAX) ===

This sets the PWM upper limit for this screen

• Range: 900 2100

== OSD1_ALTITUDE Parameters ==

=== Enable (OSD1_ALTITUDE_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_ALTITUDE_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_ALTITUDE_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_BATUSED Parameters ==

=== Enable (OSD1_BATUSED_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_BATUSED_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_BATUSED_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_BATVOLT Parameters ==

=== Enable (OSD1_BATVOLT_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_BATVOLT_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_BATVOLT_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_BLHAMPS Parameters ==

=== Enable (OSD1_BLHAMPS_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_BLHAMPS_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_BLHAMPS_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_BLHRPM Parameters ==

=== Enable (OSD1_BLHRPM_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_BLHRPM_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_BLHRPM_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_BLHTEMP Parameters ==

=== Enable (OSD1_BLHTEMP_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_BLHTEMP_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_BLHTEMP_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_CURRENT Parameters ==

=== Enable (OSD1_CURRENT_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_CURRENT_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_CURRENT_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_FLTMODE Parameters ==

=== Enable (OSD1_FLTMODE_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_FLTMODE_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_FLTMODE_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_GPSLAT Parameters ==

=== Enable (OSD1_GPSLAT_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_GPSLAT_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_GPSLAT_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_GPSLONG Parameters ==

=== Enable (OSD1_GPSLONG_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_GPSLONG_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_GPSLONG_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_GSPEED Parameters ==

=== Enable (OSD1_GSPEED_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_GSPEED_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_GSPEED_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_HOME Parameters ==

=== Enable (OSD1_HOME_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_HOME_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_HOME_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_HORIZON Parameters ==

=== Enable (OSD1_HORIZON_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_HORIZON_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_HORIZON_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_MESSAGE Parameters ==

=== Enable (OSD1_MESSAGE_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_MESSAGE_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_MESSAGE_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_PITCH Parameters ==

=== Enable (OSD1_PITCH_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_PITCH_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_PITCH_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_ROLL Parameters ==

=== Enable (OSD1_ROLL_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_ROLL_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_ROLL_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_RSSI Parameters ==

=== Enable (OSD1_RSSI_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_RSSI_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_RSSI_Y) ===

Vertical position on screen

• Range: 0 15

== OSD1_SATS Parameters ==

=== Enable (OSD1_SATS_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD1_SATS_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD1_SATS_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_ Parameters ==

=== Enable screen (OSD2_ENABLE) ===

Enable this screen

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Transmitter switch screen minimum pwm (OSD2_CHAN_MIN) ===

This sets the PWM lower limit for this screen

• Range: 900 2100

=== Transmitter switch screen maximum pwm (OSD2_CHAN_MAX) ===

This sets the PWM upper limit for this screen

• Range: 900 2100

== OSD2_ALTITUDE Parameters ==

=== Enable (OSD2_ALTITUDE_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_ALTITUDE_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_ALTITUDE_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_BATUSED Parameters ==

=== Enable (OSD2_BATUSED_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_BATUSED_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_BATUSED_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_BATVOLT Parameters ==

=== Enable (OSD2_BATVOLT_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_BATVOLT_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_BATVOLT_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_BLHAMPS Parameters ==

=== Enable (OSD2_BLHAMPS_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_BLHAMPS_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_BLHAMPS_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_BLHRPM Parameters ==

=== Enable (OSD2_BLHRPM_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_BLHRPM_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_BLHRPM_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_BLHTEMP Parameters ==

=== Enable (OSD2_BLHTEMP_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_BLHTEMP_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_BLHTEMP_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_CURRENT Parameters ==

=== Enable (OSD2_CURRENT_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_CURRENT_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_CURRENT_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_FLTMODE Parameters ==

=== Enable (OSD2_FLTMODE_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_FLTMODE_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_FLTMODE_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_GPSLAT Parameters ==

=== Enable (OSD2_GPSLAT_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_GPSLAT_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_GPSLAT_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_GPSLONG Parameters ==

=== Enable (OSD2_GPSLONG_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_GPSLONG_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_GPSLONG_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_GSPEED Parameters ==

=== Enable (OSD2_GSPEED_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_GSPEED_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_GSPEED_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_HOME Parameters ==

=== Enable (OSD2_HOME_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_HOME_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_HOME_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_HORIZON Parameters ==

=== Enable (OSD2_HORIZON_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_HORIZON_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_HORIZON_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_MESSAGE Parameters ==

=== Enable (OSD2_MESSAGE_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_MESSAGE_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_MESSAGE_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_PITCH Parameters ==

=== Enable (OSD2_PITCH_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_PITCH_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_PITCH_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_ROLL Parameters ==

=== Enable (OSD2_ROLL_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_ROLL_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_ROLL_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_RSSI Parameters ==

=== Enable (OSD2_RSSI_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_RSSI_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_RSSI_Y) ===

Vertical position on screen

• Range: 0 15

== OSD2_SATS Parameters ==

=== Enable (OSD2_SATS_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD2_SATS_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD2_SATS_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_ Parameters ==

=== Enable screen (OSD3_ENABLE) ===

Enable this screen

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Transmitter switch screen minimum pwm (OSD3_CHAN_MIN) ===

This sets the PWM lower limit for this screen

• Range: 900 2100

=== Transmitter switch screen maximum pwm (OSD3_CHAN_MAX) ===

This sets the PWM upper limit for this screen

• Range: 900 2100

== OSD3_ALTITUDE Parameters ==

=== Enable (OSD3_ALTITUDE_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_ALTITUDE_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_ALTITUDE_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_BATUSED Parameters ==

=== Enable (OSD3_BATUSED_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_BATUSED_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_BATUSED_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_BATVOLT Parameters ==

=== Enable (OSD3_BATVOLT_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_BATVOLT_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_BATVOLT_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_BLHAMPS Parameters ==

=== Enable (OSD3_BLHAMPS_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_BLHAMPS_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_BLHAMPS_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_BLHRPM Parameters ==

=== Enable (OSD3_BLHRPM_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_BLHRPM_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_BLHRPM_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_BLHTEMP Parameters ==

=== Enable (OSD3_BLHTEMP_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_BLHTEMP_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_BLHTEMP_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_CURRENT Parameters ==

=== Enable (OSD3_CURRENT_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_CURRENT_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_CURRENT_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_FLTMODE Parameters ==

=== Enable (OSD3_FLTMODE_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_FLTMODE_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_FLTMODE_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_GPSLAT Parameters ==

=== Enable (OSD3_GPSLAT_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_GPSLAT_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_GPSLAT_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_GPSLONG Parameters ==

=== Enable (OSD3_GPSLONG_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_GPSLONG_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_GPSLONG_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_GSPEED Parameters ==

=== Enable (OSD3_GSPEED_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_GSPEED_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_GSPEED_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_HOME Parameters ==

=== Enable (OSD3_HOME_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_HOME_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_HOME_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_HORIZON Parameters ==

=== Enable (OSD3_HORIZON_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_HORIZON_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_HORIZON_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_MESSAGE Parameters ==

=== Enable (OSD3_MESSAGE_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_MESSAGE_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_MESSAGE_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_PITCH Parameters ==

=== Enable (OSD3_PITCH_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_PITCH_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_PITCH_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_ROLL Parameters ==

=== Enable (OSD3_ROLL_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_ROLL_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_ROLL_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_RSSI Parameters ==

=== Enable (OSD3_RSSI_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_RSSI_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_RSSI_Y) ===

Vertical position on screen

• Range: 0 15

== OSD3_SATS Parameters ==

=== Enable (OSD3_SATS_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD3_SATS_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD3_SATS_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_ Parameters ==

=== Enable screen (OSD4_ENABLE) ===

Enable this screen

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Transmitter switch screen minimum pwm (OSD4_CHAN_MIN) ===

This sets the PWM lower limit for this screen

• Range: 900 2100

=== Transmitter switch screen maximum pwm (OSD4_CHAN_MAX) ===

This sets the PWM upper limit for this screen

• Range: 900 2100

== OSD4_ALTITUDE Parameters ==

=== Enable (OSD4_ALTITUDE_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_ALTITUDE_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_ALTITUDE_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_BATUSED Parameters ==

=== Enable (OSD4_BATUSED_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_BATUSED_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_BATUSED_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_BATVOLT Parameters ==

=== Enable (OSD4_BATVOLT_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_BATVOLT_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_BATVOLT_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_BLHAMPS Parameters ==

=== Enable (OSD4_BLHAMPS_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_BLHAMPS_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_BLHAMPS_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_BLHRPM Parameters ==

=== Enable (OSD4_BLHRPM_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_BLHRPM_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_BLHRPM_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_BLHTEMP Parameters ==

=== Enable (OSD4_BLHTEMP_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_BLHTEMP_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_BLHTEMP_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_CURRENT Parameters ==

=== Enable (OSD4_CURRENT_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_CURRENT_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_CURRENT_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_FLTMODE Parameters ==

=== Enable (OSD4_FLTMODE_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_FLTMODE_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_FLTMODE_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_GPSLAT Parameters ==

=== Enable (OSD4_GPSLAT_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_GPSLAT_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_GPSLAT_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_GPSLONG Parameters ==

=== Enable (OSD4_GPSLONG_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_GPSLONG_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_GPSLONG_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_GSPEED Parameters ==

=== Enable (OSD4_GSPEED_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_GSPEED_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_GSPEED_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_HOME Parameters ==

=== Enable (OSD4_HOME_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_HOME_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_HOME_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_HORIZON Parameters ==

=== Enable (OSD4_HORIZON_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_HORIZON_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_HORIZON_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_MESSAGE Parameters ==

=== Enable (OSD4_MESSAGE_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_MESSAGE_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_MESSAGE_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_PITCH Parameters ==

=== Enable (OSD4_PITCH_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_PITCH_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_PITCH_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_ROLL Parameters ==

=== Enable (OSD4_ROLL_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_ROLL_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_ROLL_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_RSSI Parameters ==

=== Enable (OSD4_RSSI_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_RSSI_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_RSSI_Y) ===

Vertical position on screen

• Range: 0 15

== OSD4_SATS Parameters ==

=== Enable (OSD4_SATS_EN) ===

Enable setting

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== X position (OSD4_SATS_X) ===

Horizontal position on screen

• Range: 0 29

=== Y position (OSD4_SATS_Y) ===

Vertical position on screen

• Range: 0 15

== PLND_ Parameters ==

=== Precision Land enabled/disabled and behaviour (PLND_ENABLED) ===

Precision Land enabled/disabled and behaviour

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled Always Land || || 2 || Enabled Strict ||

=== Precision Land Type (PLND_TYPE) ===

Precision Land Type

• Values || Value || Meaning || || 0 || None || || 1 || !CompanionComputer || || 2 || IRLock || || 3 || SITL_Gazebo || || 4 || SITL ||

=== Sensor yaw alignment (PLND_YAW_ALIGN) ===

Yaw angle from body x-axis to sensor x-axis.

• Range: 0 360
• Increment: 1
• Units: centidegrees

=== Land offset forward (PLND_LAND_OFS_X) ===

Desired landing position of the camera forward of the target in vehicle body frame

• Range: -20 20
• Increment: 1
• Units: centimeters

=== Land offset right (PLND_LAND_OFS_Y) ===

desired landing position of the camera right of the target in vehicle body frame

• Range: -20 20
• Increment: 1
• Units: centimeters

=== Precision Land Estimator Type (PLND_EST_TYPE) ===

Specifies the estimation method to be used

• Values || Value || Meaning || || 0 || !RawSensor || || 1 || !KalmanFilter ||

=== Kalman Filter Accelerometer Noise (PLND_ACC_P_NSE) ===

Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less

• Range: 0.5 5

=== Camera X position offset (PLND_CAM_POS_X) ===

X position of the camera in body frame. Positive X is forward of the origin.

• Units: meters

=== Camera Y position offset (PLND_CAM_POS_Y) ===

Y position of the camera in body frame. Positive Y is to the right of the origin.

• Units: meters

=== Camera Z position offset (PLND_CAM_POS_Z) ===

Z position of the camera in body frame. Positive Z is down from the origin.

• Units: meters

=== Sensor Bus (PLND_BUS) ===

Precland sensor bus for I2C sensors.

• Values || Value || Meaning || || -1 || !DefaultBus || || 0 || !InternalI2C || || 1 || !ExternalI2C ||

== PRX Parameters ==

=== Proximity type (PRX_TYPE) ===

What type of proximity sensor is connected

• Values || Value || Meaning || || 0 || None || || 1 || !LightWareSF40C || || 2 || MAVLink || || 3 || !TeraRangerTower || || 4 || !RangeFinder || || 5 || RPLidarA2 || || 6 || !TeraRangerTowerEvo ||
• !RebootRequired: True

=== Proximity sensor orientation (PRX_ORIENT) ===

Proximity sensor orientation

• Values || Value || Meaning || || 0 || Default || || 1 || Upside Down ||

=== Proximity sensor yaw correction (PRX_YAW_CORR) ===

Proximity sensor yaw correction

• Range: -180 180
• Units: degrees

=== Proximity sensor ignore angle 1 (PRX_IGN_ANG1) ===

Proximity sensor ignore angle 1

• Range: 0 360
• Units: degrees

=== Proximity sensor ignore width 1 (PRX_IGN_WID1) ===

Proximity sensor ignore width 1

• Range: 0 45
• Units: degrees

=== Proximity sensor ignore angle 2 (PRX_IGN_ANG2) ===

Proximity sensor ignore angle 2

• Range: 0 360
• Units: degrees

=== Proximity sensor ignore width 2 (PRX_IGN_WID2) ===

Proximity sensor ignore width 2

• Range: 0 45
• Units: degrees

=== Proximity sensor ignore angle 3 (PRX_IGN_ANG3) ===

Proximity sensor ignore angle 3

• Range: 0 360
• Units: degrees

=== Proximity sensor ignore width 3 (PRX_IGN_WID3) ===

Proximity sensor ignore width 3

• Range: 0 45
• Units: degrees

=== Proximity sensor ignore angle 4 (PRX_IGN_ANG4) ===

Proximity sensor ignore angle 4

• Range: 0 360
• Units: degrees

=== Proximity sensor ignore width 4 (PRX_IGN_WID4) ===

Proximity sensor ignore width 4

• Range: 0 45
• Units: degrees

=== Proximity sensor ignore angle 5 (PRX_IGN_ANG5) ===

Proximity sensor ignore angle 5

• Range: 0 360
• Units: degrees

=== Proximity sensor ignore width 5 (PRX_IGN_WID5) ===

Proximity sensor ignore width 5

• Range: 0 45
• Units: degrees

=== Proximity sensor ignore angle 6 (PRX_IGN_ANG6) ===

Proximity sensor ignore angle 6

• Range: 0 360
• Units: degrees

=== Proximity sensor ignore width 6 (PRX_IGN_WID6) ===

Proximity sensor ignore width 6

• Range: 0 45
• Units: degrees

=== Second Proximity type (PRX2_TYPE) ===

What type of proximity sensor is connected

• Values || Value || Meaning || || 0 || None || || 1 || !LightWareSF40C || || 2 || MAVLink || || 3 || !TeraRangerTower || || 4 || !RangeFinder || || 5 || RPLidarA2 || || 6 || !TeraRangerTowerEvo ||
• !RebootRequired: True

=== Second Proximity sensor orientation (PRX2_ORIENT) ===

Second Proximity sensor orientation

• Values || Value || Meaning || || 0 || Default || || 1 || Upside Down ||

=== Second Proximity sensor yaw correction (PRX2_YAW_CORR) ===

Second Proximity sensor yaw correction

• Range: -180 180
• Units: degrees

== PSC Parameters ==

=== XY Acceleration filter cutoff frequency (PSC_ACC_XY_FILT) ===

Lower values will slow the response of the navigation controller and reduce twitchiness

• Range: 0.5 5
• Increment: 0.1
• Units: hertz

=== Position (vertical) controller P gain (PSC_POSZ_P) ===

Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller

• Range: 1.000 3.000

=== Velocity (vertical) controller P gain (PSC_VELZ_P) ===

Velocity (vertical) controller 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: 1.000 8.000

=== Acceleration (vertical) controller P gain (PSC_ACCZ_P) ===

Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output

• Range: 0.500 1.500
• Increment: 0.05

=== Acceleration (vertical) controller I gain (PSC_ACCZ_I) ===

Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration

• Range: 0.000 3.000

=== Acceleration (vertical) controller I gain maximum (PSC_ACCZ_IMAX) ===

Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate

• Range: 0 1000
• Units: decipercent

=== Acceleration (vertical) controller D gain (PSC_ACCZ_D) ===

Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration

• Range: 0.000 0.400

=== Acceleration (vertical) controller filter (PSC_ACCZ_FILT) ===

Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay.

• Range: 1.000 100.000
• Units: hertz

=== Position (horizonal) controller P gain (PSC_POSXY_P) ===

Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller

• Range: 0.500 2.000

=== Velocity (horizontal) P gain (PSC_VELXY_P) ===

Velocity (horizontal) P gain. Converts the difference between desired velocity to a target acceleration

• Range: 0.1 6.0
• Increment: 0.1

=== Velocity (horizontal) I gain (PSC_VELXY_I) ===

Velocity (horizontal) I gain. Corrects long-term difference in desired velocity to a target acceleration

• Range: 0.02 1.00
• Increment: 0.01

=== Velocity (horizontal) D gain (PSC_VELXY_D) ===

Velocity (horizontal) D gain. Corrects short-term changes in velocity

• Range: 0.00 1.00
• Increment: 0.001

=== Velocity (horizontal) integrator maximum (PSC_VELXY_IMAX) ===

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

• Range: 0 4500
• Increment: 10
• Units: centimeters per square second

=== Velocity (horizontal) input filter (PSC_VELXY_FILT) ===

Velocity (horizontal) input filter. This filter (in hz) is applied to the input for P and I terms

• Range: 0 100
• Units: hertz

=== Velocity (horizontal) input filter (PSC_VELXY_D_FILT) ===

Velocity (horizontal) input filter. This filter (in hz) is applied to the input for P and I terms

• Range: 0 100
• Units: hertz

=== Position Control Angle Max (PSC_ANGLE_MAX) ===

Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value

• Range: 0 45
• Increment: 1
• Units: degrees

== RALLY_ Parameters ==

=== Rally Total (RALLY_TOTAL) ===

Number of rally points currently loaded

=== Rally Limit (RALLY_LIMIT_KM) ===

Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.

• Increment: 0.1
• Units: kilometers

=== Rally Include Home (RALLY_INCL_HOME) ===

Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL

• Values || Value || Meaning || || 0 || !DoNotIncludeHome || || 1 || !IncludeHome ||

== RC Parameters ==

=== RC override timeout (RC_OVERRIDE_TIME) ===

Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled

• Range: 0.0 120.0
• Units: seconds

== RC10_ Parameters ==

=== RC min PWM (RC10_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC10_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC10_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC10_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC10_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC11_ Parameters ==

=== RC min PWM (RC11_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC11_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC11_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC11_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC11_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC12_ Parameters ==

=== RC min PWM (RC12_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC12_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC12_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC12_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC12_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC13_ Parameters ==

=== RC min PWM (RC13_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC13_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC13_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC13_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC13_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC14_ Parameters ==

=== RC min PWM (RC14_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC14_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC14_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC14_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC14_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC15_ Parameters ==

=== RC min PWM (RC15_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC15_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC15_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC15_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC15_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC16_ Parameters ==

=== RC min PWM (RC16_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC16_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC16_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC16_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC16_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC1_ Parameters ==

=== RC min PWM (RC1_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC1_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC1_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC1_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC1_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC2_ Parameters ==

=== RC min PWM (RC2_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC2_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC2_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC2_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC2_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC3_ Parameters ==

=== RC min PWM (RC3_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC3_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC3_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC3_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC3_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC4_ Parameters ==

=== RC min PWM (RC4_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC4_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC4_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC4_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC4_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC5_ Parameters ==

=== RC min PWM (RC5_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC5_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC5_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC5_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC5_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC6_ Parameters ==

=== RC min PWM (RC6_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC6_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC6_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC6_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC6_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC7_ Parameters ==

=== RC min PWM (RC7_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC7_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC7_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC7_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC7_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC8_ Parameters ==

=== RC min PWM (RC8_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC8_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC8_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC8_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC8_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RC9_ Parameters ==

=== RC min PWM (RC9_MIN) ===

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC trim PWM (RC9_TRIM) ===

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC max PWM (RC9_MAX) ===

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== RC reversed (RC9_REVERSED) ===

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== RC dead-zone (RC9_DZ) ===

PWM dead zone in microseconds around trim or bottom

• Range: 0 200
• Units: PWM in microseconds

== RCMAP_ Parameters ==

=== Roll channel (RCMAP_ROLL) ===

Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

• Range: 1 8
• Increment: 1
• !RebootRequired: True

=== Pitch channel (RCMAP_PITCH) ===

Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

• Range: 1 8
• Increment: 1
• !RebootRequired: True

=== Throttle channel (RCMAP_THROTTLE) ===

Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended. Reboot is required for changes to take effect.

• Range: 1 8
• Increment: 1
• !RebootRequired: True

=== Yaw channel (RCMAP_YAW) ===

Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

• Range: 1 8
• Increment: 1
• !RebootRequired: True

=== Forward channel (RCMAP_FORWARD) ===

Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

• Range: 1 8
• Increment: 1
• !RebootRequired: True

=== Lateral channel (RCMAP_LATERAL) ===

Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

• Range: 1 8
• Increment: 1
• !RebootRequired: True

== RELAY_ Parameters ==

=== First Relay Pin (RELAY_PIN) ===

Digital pin number for first relay control. This is the pin used for camera control.

• Values || Value || Meaning || || -1 || Disabled || || 13 || APM2 A9 pin || || 47 || APM1 relay || || 49 || BB Blue GP0 pin 4 || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 57 || BB Blue GP0 pin 3 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1/BB Blue GP0 pin 6 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2/BB Blue GP0 pin 5 ||

=== Second Relay Pin (RELAY_PIN2) ===

Digital pin number for 2nd relay control.

• Values || Value || Meaning || || -1 || Disabled || || 13 || APM2 A9 pin || || 47 || APM1 relay || || 49 || BB Blue GP0 pin 4 || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 57 || BB Blue GP0 pin 3 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1/BB Blue GP0 pin 6 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2/BB Blue GP0 pin 5 ||

=== Third Relay Pin (RELAY_PIN3) ===

Digital pin number for 3rd relay control.

• Values || Value || Meaning || || -1 || Disabled || || 13 || APM2 A9 pin || || 47 || APM1 relay || || 49 || BB Blue GP0 pin 4 || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 57 || BB Blue GP0 pin 3 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1/BB Blue GP0 pin 6 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2/BB Blue GP0 pin 5 ||

=== Fourth Relay Pin (RELAY_PIN4) ===

Digital pin number for 4th relay control.

• Values || Value || Meaning || || -1 || Disabled || || 13 || APM2 A9 pin || || 47 || APM1 relay || || 49 || BB Blue GP0 pin 4 || || 50 || Pixhawk AUXOUT1 || || 51 || Pixhawk AUXOUT2 || || 52 || Pixhawk AUXOUT3 || || 53 || Pixhawk AUXOUT4 || || 54 || Pixhawk AUXOUT5 || || 55 || Pixhawk AUXOUT6 || || 57 || BB Blue GP0 pin 3 || || 111 || PX4 FMU Relay1 || || 112 || PX4 FMU Relay2 || || 113 || PX4IO Relay1/BB Blue GP0 pin 6 || || 114 || PX4IO Relay2 || || 115 || PX4IO ACC1 || || 116 || PX4IO ACC2/BB Blue GP0 pin 5 ||

=== Default relay state (RELAY_DEFAULT) ===

The state of the relay on boot.

• Values || Value || Meaning || || 0 || Off || || 1 || On || || 2 || !NoChange ||

== RNGFND Parameters ==

=== Rangefinder type (RNGFND_TYPE) ===

What type of rangefinder device that is connected

• Values || Value || Meaning || || 0 || None || || 1 || Analog || || 2 || !MaxbotixI2C || || 3 || !LidarLiteV2-I2C || || 5 || PX4-PWM || || 6 || BBB-PRU || || 7 || !LightWareI2C || || 8 || !LightWareSerial || || 9 || Bebop || || 10 || MAVLink || || 11 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || !BenewakeTFmini || || 21 || !LidarLiteV3HP-I2C || || 25 || !BenewakeTFMiniPlus ||

=== Rangefinder pin (RNGFND_PIN) ===

Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.

• Values || Value || Meaning || || -1 || Not Used || || 0 || APM2-A0 || || 1 || APM2-A1 || || 2 || APM2-A2 || || 3 || APM2-A3 || || 4 || APM2-A4 || || 5 || APM2-A5 || || 6 || APM2-A6 || || 7 || APM2-A7 || || 8 || APM2-A8 || || 9 || APM2-A9 || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 64 || APM1-airspeed port ||

=== Rangefinder scaling (RNGFND_SCALING) ===

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

• Increment: 0.001
• Units: meters per volt

=== rangefinder offset (RNGFND_OFFSET) ===

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

• Increment: 0.001
• Units: volt

=== Rangefinder function (RNGFND_FUNCTION) ===

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

• Values || Value || Meaning || || 0 || Linear || || 1 || Inverted || || 2 || Hyperbolic ||

=== Rangefinder minimum distance (RNGFND_MIN_CM) ===

Minimum distance in centimeters that rangefinder can reliably read

• Increment: 1
• Units: centimeters

=== Rangefinder maximum distance (RNGFND_MAX_CM) ===

Maximum distance in centimeters that rangefinder can reliably read

• Increment: 1
• Units: centimeters

=== Rangefinder stop pin (RNGFND_STOP_PIN) ===

Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.

• Values || Value || Meaning || || -1 || Not Used || || 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 ||

=== Rangefinder settle time (RNGFND_SETTLE) ===

The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.

• Increment: 1
• Units: milliseconds

=== Ratiometric (RNGFND_RMETRIC) ===

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

• Values || Value || Meaning || || 0 || No || || 1 || Yes ||

=== Powersave range (RNGFND_PWRRNG) ===

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

• Range: 0 32767
• Units: meters

=== Distance (in cm) from the range finder to the ground (RNGFND_GNDCLEAR) ===

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

• Range: 5 127
• Increment: 1
• Units: centimeters

=== Bus address of sensor (RNGFND_ADDR) ===

This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

• Range: 0 127
• Increment: 1

=== X position offset (RNGFND_POS_X) ===

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

• Units: meters

=== Y position offset (RNGFND_POS_Y) ===

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

• Units: meters

=== Z position offset (RNGFND_POS_Z) ===

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

• Units: meters

=== Rangefinder orientation (RNGFND_ORIENT) ===

Orientation of rangefinder

• Values || Value || Meaning || || 0 || Forward || || 1 || Forward-Right || || 2 || Right || || 3 || Back-Right || || 4 || Back || || 5 || Back-Left || || 6 || Left || || 7 || Forward-Left || || 24 || Up || || 25 || Down ||

=== Second Rangefinder type (RNGFND2_TYPE) ===

What type of rangefinder device that is connected

• Values || Value || Meaning || || 0 || None || || 1 || Analog || || 2 || !MaxbotixI2C || || 3 || !LidarLiteV2-I2C || || 5 || PX4-PWM || || 6 || BBB-PRU || || 7 || !LightWareI2C || || 8 || !LightWareSerial || || 9 || Bebop || || 10 || MAVLink || || 11 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || !BenewakeTFmini || || 21 || !LidarLiteV3HP-I2C || || 25 || !BenewakeTFMiniPlus ||

=== Rangefinder pin (RNGFND2_PIN) ===

Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.

• Values || Value || Meaning || || -1 || Not Used || || 0 || APM2-A0 || || 1 || APM2-A1 || || 2 || APM2-A2 || || 3 || APM2-A3 || || 4 || APM2-A4 || || 5 || APM2-A5 || || 6 || APM2-A6 || || 7 || APM2-A7 || || 8 || APM2-A8 || || 9 || APM2-A9 || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 64 || APM1-airspeed port ||

=== Rangefinder scaling (RNGFND2_SCALING) ===

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

• Increment: 0.001
• Units: meters per volt

=== rangefinder offset (RNGFND2_OFFSET) ===

Offset in volts for zero distance

• Increment: 0.001
• Units: volt

=== Rangefinder function (RNGFND2_FUNCTION) ===

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

• Values || Value || Meaning || || 0 || Linear || || 1 || Inverted || || 2 || Hyperbolic ||

=== Rangefinder minimum distance (RNGFND2_MIN_CM) ===

Minimum distance in centimeters that rangefinder can reliably read

• Increment: 1
• Units: centimeters

=== Rangefinder maximum distance (RNGFND2_MAX_CM) ===

Maximum distance in centimeters that rangefinder can reliably read

• Increment: 1
• Units: centimeters

=== Rangefinder stop pin (RNGFND2_STOP_PIN) ===

Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.

• Values || Value || Meaning || || -1 || Not Used || || 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 ||

=== Sonar settle time (RNGFND2_SETTLE) ===

The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.

• Increment: 1
• Units: milliseconds

=== Ratiometric (RNGFND2_RMETRIC) ===

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

• Values || Value || Meaning || || 0 || No || || 1 || Yes ||

=== Distance (in cm) from the second range finder to the ground (RNGFND2_GNDCLEAR) ===

This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground.

• Range: 0 127
• Increment: 1
• Units: centimeters

=== Bus address of second rangefinder (RNGFND2_ADDR) ===

This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

• Range: 0 127
• Increment: 1

=== X position offset (RNGFND2_POS_X) ===

X position of the second rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

• Units: meters

=== Y position offset (RNGFND2_POS_Y) ===

Y position of the second rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

• Units: meters

=== Z position offset (RNGFND2_POS_Z) ===

Z position of the second rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

• Units: meters

=== Rangefinder 2 orientation (RNGFND2_ORIENT) ===

Orientation of 2nd rangefinder

• Values || Value || Meaning || || 0 || Forward || || 1 || Forward-Right || || 2 || Right || || 3 || Back-Right || || 4 || Back || || 5 || Back-Left || || 6 || Left || || 7 || Forward-Left || || 24 || Up || || 25 || Down ||

=== Third Rangefinder type (RNGFND3_TYPE) ===

What type of rangefinder device that is connected

• Values || Value || Meaning || || 0 || None || || 1 || Analog || || 2 || !MaxbotixI2C || || 3 || !LidarLiteV2-I2C || || 5 || PX4-PWM || || 6 || BBB-PRU || || 7 || !LightWareI2C || || 8 || !LightWareSerial || || 9 || Bebop || || 10 || MAVLink || || 11 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || !BenewakeTFmini || || 21 || !LidarLiteV3HP-I2C || || 25 || !BenewakeTFMiniPlus ||

=== Rangefinder pin (RNGFND3_PIN) ===

Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.

• Values || Value || Meaning || || -1 || Not Used || || 0 || APM2-A0 || || 1 || APM2-A1 || || 2 || APM2-A2 || || 3 || APM2-A3 || || 4 || APM2-A4 || || 5 || APM2-A5 || || 6 || APM2-A6 || || 7 || APM2-A7 || || 8 || APM2-A8 || || 9 || APM2-A9 || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 64 || APM1-airspeed port ||

=== Rangefinder scaling (RNGFND3_SCALING) ===

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

• Increment: 0.001
• Units: meters per volt

=== rangefinder offset (RNGFND3_OFFSET) ===

Offset in volts for zero distance

• Increment: 0.001
• Units: volt

=== Rangefinder function (RNGFND3_FUNCTION) ===

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

• Values || Value || Meaning || || 0 || Linear || || 1 || Inverted || || 2 || Hyperbolic ||

=== Rangefinder minimum distance (RNGFND3_MIN_CM) ===

Minimum distance in centimeters that rangefinder can reliably read

• Increment: 1
• Units: centimeters

=== Rangefinder maximum distance (RNGFND3_MAX_CM) ===

Maximum distance in centimeters that rangefinder can reliably read

• Increment: 1
• Units: centimeters

=== Rangefinder stop pin (RNGFND3_STOP_PIN) ===

Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.

• Values || Value || Meaning || || -1 || Not Used || || 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 ||

=== Sonar settle time (RNGFND3_SETTLE) ===

The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.

• Increment: 1
• Units: milliseconds

=== Ratiometric (RNGFND3_RMETRIC) ===

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

• Values || Value || Meaning || || 0 || No || || 1 || Yes ||

=== Distance (in cm) from the third range finder to the ground (RNGFND3_GNDCLEAR) ===

This parameter sets the expected range measurement(in cm) that the third range finder should return when the vehicle is on the ground.

• Range: 0 127
• Increment: 1
• Units: centimeters

=== Bus address of third rangefinder (RNGFND3_ADDR) ===

This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

• Range: 0 127
• Increment: 1

=== X position offset (RNGFND3_POS_X) ===

X position of the third rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

• Units: meters

=== Y position offset (RNGFND3_POS_Y) ===

Y position of the third rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

• Units: meters

=== Z position offset (RNGFND3_POS_Z) ===

Z position of the third rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

• Units: meters

=== Rangefinder 3 orientation (RNGFND3_ORIENT) ===

Orientation of 3rd rangefinder

• Values || Value || Meaning || || 0 || Forward || || 1 || Forward-Right || || 2 || Right || || 3 || Back-Right || || 4 || Back || || 5 || Back-Left || || 6 || Left || || 7 || Forward-Left || || 24 || Up || || 25 || Down ||

=== Fourth Rangefinder type (RNGFND4_TYPE) ===

What type of rangefinder device that is connected

• Values || Value || Meaning || || 0 || None || || 1 || Analog || || 2 || !MaxbotixI2C || || 3 || !LidarLiteV2-I2C || || 5 || PX4-PWM || || 6 || BBB-PRU || || 7 || !LightWareI2C || || 8 || !LightWareSerial || || 9 || Bebop || || 10 || MAVLink || || 11 || uLanding || || 12 || !LeddarOne || || 13 || !MaxbotixSerial || || 14 || !TeraRangerI2C || || 15 || !LidarLiteV3-I2C || || 16 || VL53L0X || || 17 || NMEA || || 18 || WASP-LRF || || 19 || !BenewakeTF02 || || 20 || !BenewakeTFmini || || 21 || !LidarLiteV3HP-I2C || || 25 || !BenewakeTFMiniPlus ||

=== Rangefinder pin (RNGFND4_PIN) ===

Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.

• Values || Value || Meaning || || -1 || Not Used || || 0 || APM2-A0 || || 1 || APM2-A1 || || 2 || APM2-A2 || || 3 || APM2-A3 || || 4 || APM2-A4 || || 5 || APM2-A5 || || 6 || APM2-A6 || || 7 || APM2-A7 || || 8 || APM2-A8 || || 9 || APM2-A9 || || 11 || PX4-airspeed port || || 15 || Pixhawk-airspeed port || || 64 || APM1-airspeed port ||

=== Rangefinder scaling (RNGFND4_SCALING) ===

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

• Increment: 0.001
• Units: meters per volt

=== rangefinder offset (RNGFND4_OFFSET) ===

Offset in volts for zero distance

• Increment: 0.001
• Units: volt

=== Rangefinder function (RNGFND4_FUNCTION) ===

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

• Values || Value || Meaning || || 0 || Linear || || 1 || Inverted || || 2 || Hyperbolic ||

=== Rangefinder minimum distance (RNGFND4_MIN_CM) ===

Minimum distance in centimeters that rangefinder can reliably read

• Increment: 1
• Units: centimeters

=== Rangefinder maximum distance (RNGFND4_MAX_CM) ===

Maximum distance in centimeters that rangefinder can reliably read

• Increment: 1
• Units: centimeters

=== Rangefinder stop pin (RNGFND4_STOP_PIN) ===

Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.

• Values || Value || Meaning || || -1 || Not Used || || 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 ||

=== Sonar settle time (RNGFND4_SETTLE) ===

The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.

• Increment: 1
• Units: milliseconds

=== Ratiometric (RNGFND4_RMETRIC) ===

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

• Values || Value || Meaning || || 0 || No || || 1 || Yes ||

=== Distance (in cm) from the fourth range finder to the ground (RNGFND4_GNDCLEAR) ===

This parameter sets the expected range measurement(in cm) that the fourth range finder should return when the vehicle is on the ground.

• Range: 0 127
• Increment: 1
• Units: centimeters

=== Bus address of fourth rangefinder (RNGFND4_ADDR) ===

This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

• Range: 0 127
• Increment: 1

=== X position offset (RNGFND4_POS_X) ===

X position of the fourth rangefinder in body frame. Use the zero range datum point if supplied.

• Units: meters

=== Y position offset (RNGFND4_POS_Y) ===

Y position of the fourth rangefinder in body frame. Use the zero range datum point if supplied.

• Units: meters

=== Z position offset (RNGFND4_POS_Z) ===

Z position of the fourth rangefinder in body frame. Use the zero range datum point if supplied.

• Units: meters

=== Rangefinder 4 orientation (RNGFND4_ORIENT) ===

Orientation of 4th range finder

• Values || Value || Meaning || || 0 || Forward || || 1 || Forward-Right || || 2 || Right || || 3 || Back-Right || || 4 || Back || || 5 || Back-Left || || 6 || Left || || 7 || Forward-Left || || 24 || Up || || 25 || Down ||

== RNGFND2_ Parameters ==

=== Moving Average Range (RNGFND2_WSP_MAVG) ===

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

• Range: 0 255

=== Moving Median Filter (RNGFND2_WSP_MEDF) ===

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

• Range: 0 255

=== Frequency (RNGFND2_WSP_FRQ) ===

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

• Range: 0 10000

=== Multi-pulse averages (RNGFND2_WSP_AVG) ===

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

• Range: 0 255

=== Sensitivity threshold (RNGFND2_WSP_THR) ===

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

• Range: -1 255

=== Baud rate (RNGFND2_WSP_BAUD) ===

Desired baud rate

• Values || Value || Meaning || || 0 || Low Speed || || 1 || High Speed ||

== RNGFND3_ Parameters ==

=== Moving Average Range (RNGFND3_WSP_MAVG) ===

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

• Range: 0 255

=== Moving Median Filter (RNGFND3_WSP_MEDF) ===

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

• Range: 0 255

=== Frequency (RNGFND3_WSP_FRQ) ===

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

• Range: 0 10000

=== Multi-pulse averages (RNGFND3_WSP_AVG) ===

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

• Range: 0 255

=== Sensitivity threshold (RNGFND3_WSP_THR) ===

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

• Range: -1 255

=== Baud rate (RNGFND3_WSP_BAUD) ===

Desired baud rate

• Values || Value || Meaning || || 0 || Low Speed || || 1 || High Speed ||

== RNGFND4_ Parameters ==

=== Moving Average Range (RNGFND4_WSP_MAVG) ===

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

• Range: 0 255

=== Moving Median Filter (RNGFND4_WSP_MEDF) ===

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

• Range: 0 255

=== Frequency (RNGFND4_WSP_FRQ) ===

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

• Range: 0 10000

=== Multi-pulse averages (RNGFND4_WSP_AVG) ===

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

• Range: 0 255

=== Sensitivity threshold (RNGFND4_WSP_THR) ===

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

• Range: -1 255

=== Baud rate (RNGFND4_WSP_BAUD) ===

Desired baud rate

• Values || Value || Meaning || || 0 || Low Speed || || 1 || High Speed ||

== RNGFND_ Parameters ==

=== Moving Average Range (RNGFND_WSP_MAVG) ===

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

• Range: 0 255

=== Moving Median Filter (RNGFND_WSP_MEDF) ===

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

• Range: 0 255

=== Frequency (RNGFND_WSP_FRQ) ===

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

• Range: 0 10000

=== Multi-pulse averages (RNGFND_WSP_AVG) ===

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

• Range: 0 255

=== Sensitivity threshold (RNGFND_WSP_THR) ===

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

• Range: -1 255

=== Baud rate (RNGFND_WSP_BAUD) ===

Desired baud rate

• Values || Value || Meaning || || 0 || Low Speed || || 1 || High Speed ||

== RPM Parameters ==

=== RPM type (RPM_TYPE) ===

What type of RPM sensor is connected

• Values || Value || Meaning || || 0 || None || || 1 || PX4-PWM || || 2 || AUXPIN ||

=== RPM scaling (RPM_SCALING) ===

Scaling factor between sensor reading and RPM.

• Increment: 0.001

=== Maximum RPM (RPM_MAX) ===

Maximum RPM to report

• Increment: 1

=== Minimum RPM (RPM_MIN) ===

Minimum RPM to report

• Increment: 1

=== Minimum Quality (RPM_MIN_QUAL) ===

Minimum data quality to be used

• Increment: 0.1

=== Input pin number (RPM_PIN) ===

Which pin to use

• Values || Value || Meaning || || -1 || Disabled || || 50 || !PixhawkAUX1 || || 51 || !PixhawkAUX2 || || 52 || !PixhawkAUX3 || || 53 || !PixhawkAUX4 || || 54 || !PixhawkAUX5 || || 55 || !PixhawkAUX6 ||

=== Second RPM type (RPM2_TYPE) ===

What type of RPM sensor is connected

• Values || Value || Meaning || || 0 || None || || 1 || PX4-PWM || || 2 || AUXPIN ||

=== RPM scaling (RPM2_SCALING) ===

Scaling factor between sensor reading and RPM.

• Increment: 0.001

=== RPM2 input pin number (RPM2_PIN) ===

Which pin to use

• Values || Value || Meaning || || -1 || Disabled || || 50 || !PixhawkAUX1 || || 51 || !PixhawkAUX2 || || 52 || !PixhawkAUX3 || || 53 || !PixhawkAUX4 || || 54 || !PixhawkAUX5 || || 55 || !PixhawkAUX6 ||

== RSSI_ Parameters ==

=== RSSI Type (RSSI_TYPE) ===

Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.

• Values || Value || Meaning || || 0 || Disabled || || 1 || !AnalogPin || || 2 || RCChannelPwmValue || || 3 || !ReceiverProtocol || || 4 || PWMInputPin ||

=== Receiver RSSI sensing pin (RSSI_ANA_PIN) ===

Pin used to read the RSSI voltage or PWM value

• Values || Value || Meaning || || 8 || V5 Nano || || 11 || Pixracer || || 13 || Pixhawk ADC4 || || 14 || Pixhawk ADC3 || || 15 || Pixhawk ADC6 || || 15 || Pixhawk2 ADC || || 50 || !PixhawkAUX1 || || 51 || !PixhawkAUX2 || || 52 || !PixhawkAUX3 || || 53 || !PixhawkAUX4 || || 54 || !PixhawkAUX5 || || 55 || !PixhawkAUX6 || || 103 || Pixhawk SBUS ||

=== RSSI pin's lowest voltage (RSSI_PIN_LOW) ===

RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH

• Range: 0 5.0
• Increment: 0.01
• Units: volt

=== RSSI pin's highest voltage (RSSI_PIN_HIGH) ===

RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW

• Range: 0 5.0
• Increment: 0.01
• Units: volt

=== Receiver RSSI channel number (RSSI_CHANNEL) ===

The channel number where RSSI will be output by the radio receiver (5 and above).

• Range: 0 16

=== RSSI PWM low value (RSSI_CHAN_LOW) ===

PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH

• Range: 0 2000
• Units: PWM in microseconds

=== Receiver RSSI PWM high value (RSSI_CHAN_HIGH) ===

PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW

• Range: 0 2000
• Units: PWM in microseconds

== SCHED_ Parameters ==

=== Scheduler debug level (SCHED_DEBUG) ===

Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.

• Values || Value || Meaning || || 0 || Disabled || || 2 || !ShowSlips || || 3 || !ShowOverruns ||

=== Scheduling main loop rate (SCHED_LOOP_RATE) ===

This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.

• Values || Value || Meaning || || 50 || 50Hz || || 100 || 100Hz || || 200 || 200Hz || || 250 || 250Hz || || 300 || 300Hz || || 400 || 400Hz ||
• !RebootRequired: True

== SERIAL Parameters ==

=== Serial0 baud rate (SERIAL0_BAUD) ===

The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

• Values || Value || Meaning || || 1 || 1200 || || 2 || 2400 || || 4 || 4800 || || 9 || 9600 || || 19 || 19200 || || 38 || 38400 || || 57 || 57600 || || 111 || 111100 || || 115 || 115200 || || 460 || 460800 || || 500 || 500000 || || 921 || 921600 || || 1500 || 1500000 ||

=== Console protocol selection (SERIAL0_PROTOCOL) ===

_Control what protocol to use on the console. _

• Values || Value || Meaning || || 1 || MAVlink1 || || 2 || MAVLink2 ||
• !RebootRequired: True

=== Telem1 protocol selection (SERIAL1_PROTOCOL) ===

Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.

• Values || Value || Meaning || || -1 || None || || 1 || MAVLink1 || || 2 || MAVLink2 || || 3 || Frsky D || || 4 || Frsky SPort || || 5 || GPS || || 7 || Alexmos Gimbal Serial || || 8 || SToRM32 Gimbal Serial || || 9 || Rangefinder || || 10 || !FrSky SPort Passthrough (OpenTX) || || 11 || Lidar360 || || 13 || Beacon || || 14 || Volz servo out || || 15 || SBus servo out || || 16 || ESC Telemetry || || 17 || Devo Telemetry || || 18 || !OpticalFlow ||
• !RebootRequired: True

=== Telem1 Baud Rate (SERIAL1_BAUD) ===

The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

• Values || Value || Meaning || || 1 || 1200 || || 2 || 2400 || || 4 || 4800 || || 9 || 9600 || || 19 || 19200 || || 38 || 38400 || || 57 || 57600 || || 111 || 111100 || || 115 || 115200 || || 500 || 500000 || || 921 || 921600 || || 1500 || 1500000 ||

=== Telemetry 2 protocol selection (SERIAL2_PROTOCOL) ===

Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.

• Values || Value || Meaning || || -1 || None || || 1 || MAVLink1 || || 2 || MAVLink2 || || 3 || Frsky D || || 4 || Frsky SPort || || 5 || GPS || || 7 || Alexmos Gimbal Serial || || 8 || SToRM32 Gimbal Serial || || 9 || Rangefinder || || 10 || !FrSky SPort Passthrough (OpenTX) || || 11 || Lidar360 || || 13 || Beacon || || 14 || Volz servo out || || 15 || SBus servo out || || 16 || ESC Telemetry || || 17 || Devo Telemetry || || 18 || !OpticalFlow ||
• !RebootRequired: True

=== Telemetry 2 Baud Rate (SERIAL2_BAUD) ===

The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

• Values || Value || Meaning || || 1 || 1200 || || 2 || 2400 || || 4 || 4800 || || 9 || 9600 || || 19 || 19200 || || 38 || 38400 || || 57 || 57600 || || 111 || 111100 || || 115 || 115200 || || 500 || 500000 || || 921 || 921600 || || 1500 || 1500000 ||

=== Serial 3 (GPS) protocol selection (SERIAL3_PROTOCOL) ===

Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

• Values || Value || Meaning || || -1 || None || || 1 || MAVLink1 || || 2 || MAVLink2 || || 3 || Frsky D || || 4 || Frsky SPort || || 5 || GPS || || 7 || Alexmos Gimbal Serial || || 8 || SToRM32 Gimbal Serial || || 9 || Rangefinder || || 10 || !FrSky SPort Passthrough (OpenTX) || || 11 || Lidar360 || || 13 || Beacon || || 14 || Volz servo out || || 15 || SBus servo out || || 16 || ESC Telemetry || || 17 || Devo Telemetry || || 18 || !OpticalFlow ||
• !RebootRequired: True

=== Serial 3 (GPS) Baud Rate (SERIAL3_BAUD) ===

The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

• Values || Value || Meaning || || 1 || 1200 || || 2 || 2400 || || 4 || 4800 || || 9 || 9600 || || 19 || 19200 || || 38 || 38400 || || 57 || 57600 || || 111 || 111100 || || 115 || 115200 || || 500 || 500000 || || 921 || 921600 || || 1500 || 1500000 ||

=== Serial4 protocol selection (SERIAL4_PROTOCOL) ===

Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

• Values || Value || Meaning || || -1 || None || || 1 || MAVLink1 || || 2 || MAVLink2 || || 3 || Frsky D || || 4 || Frsky SPort || || 5 || GPS || || 7 || Alexmos Gimbal Serial || || 8 || SToRM32 Gimbal Serial || || 9 || Rangefinder || || 10 || !FrSky SPort Passthrough (OpenTX) || || 11 || Lidar360 || || 13 || Beacon || || 14 || Volz servo out || || 15 || SBus servo out || || 16 || ESC Telemetry || || 17 || Devo Telemetry || || 18 || !OpticalFlow ||
• !RebootRequired: True

=== Serial 4 Baud Rate (SERIAL4_BAUD) ===

The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

• Values || Value || Meaning || || 1 || 1200 || || 2 || 2400 || || 4 || 4800 || || 9 || 9600 || || 19 || 19200 || || 38 || 38400 || || 57 || 57600 || || 111 || 111100 || || 115 || 115200 || || 500 || 500000 || || 921 || 921600 || || 1500 || 1500000 ||

=== Serial5 protocol selection (SERIAL5_PROTOCOL) ===

Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

• Values || Value || Meaning || || -1 || None || || 1 || MAVLink1 || || 2 || MAVLink2 || || 3 || Frsky D || || 4 || Frsky SPort || || 5 || GPS || || 7 || Alexmos Gimbal Serial || || 8 || SToRM32 Gimbal Serial || || 9 || Rangefinder || || 10 || !FrSky SPort Passthrough (OpenTX) || || 11 || Lidar360 || || 13 || Beacon || || 14 || Volz servo out || || 15 || SBus servo out || || 16 || ESC Telemetry || || 17 || Devo Telemetry || || 18 || !OpticalFlow ||
• !RebootRequired: True

=== Serial 5 Baud Rate (SERIAL5_BAUD) ===

The baud rate used for Serial5. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

• Values || Value || Meaning || || 1 || 1200 || || 2 || 2400 || || 4 || 4800 || || 9 || 9600 || || 19 || 19200 || || 38 || 38400 || || 57 || 57600 || || 111 || 111100 || || 115 || 115200 || || 500 || 500000 || || 921 || 921600 || || 1500 || 1500000 ||

=== Serial6 protocol selection (SERIAL6_PROTOCOL) ===

Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

• Values || Value || Meaning || || -1 || None || || 1 || MAVLink1 || || 2 || MAVLink2 || || 3 || Frsky D || || 4 || Frsky SPort || || 5 || GPS || || 7 || Alexmos Gimbal Serial || || 8 || SToRM32 Gimbal Serial || || 9 || Rangefinder || || 10 || !FrSky SPort Passthrough (OpenTX) || || 11 || Lidar360 || || 13 || Beacon || || 14 || Volz servo out || || 15 || SBus servo out || || 16 || ESC Telemetry || || 17 || Devo Telemetry || || 18 || !OpticalFlow ||
• !RebootRequired: True

=== Serial 6 Baud Rate (SERIAL6_BAUD) ===

The baud rate used for Serial6. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

• Values || Value || Meaning || || 1 || 1200 || || 2 || 2400 || || 4 || 4800 || || 9 || 9600 || || 19 || 19200 || || 38 || 38400 || || 57 || 57600 || || 111 || 111100 || || 115 || 115200 || || 500 || 500000 || || 921 || 921600 || || 1500 || 1500000 ||

== SERVO Parameters ==

=== Automatic servo trim (SERVO_AUTO_TRIM) ===

This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights.

• Values || Value || Meaning || || 0 || Disable || || 1 || Enable ||

=== Servo default output rate (SERVO_RATE) ===

This sets the default output rate in Hz for all outputs.

• Range: 25 400
• Units: hertz

== SERVO10_ Parameters ==

=== Minimum PWM (SERVO10_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO10_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO10_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO10_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO10_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO11_ Parameters ==

=== Minimum PWM (SERVO11_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO11_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO11_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO11_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO11_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO12_ Parameters ==

=== Minimum PWM (SERVO12_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO12_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO12_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO12_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO12_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO13_ Parameters ==

=== Minimum PWM (SERVO13_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO13_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO13_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO13_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO13_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO14_ Parameters ==

=== Minimum PWM (SERVO14_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO14_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO14_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO14_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO14_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO15_ Parameters ==

=== Minimum PWM (SERVO15_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO15_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO15_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO15_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO15_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO16_ Parameters ==

=== Minimum PWM (SERVO16_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO16_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO16_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO16_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO16_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO1_ Parameters ==

=== Minimum PWM (SERVO1_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO1_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO1_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO1_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO1_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO2_ Parameters ==

=== Minimum PWM (SERVO2_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO2_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO2_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO2_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO2_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO3_ Parameters ==

=== Minimum PWM (SERVO3_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO3_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO3_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO3_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO3_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO4_ Parameters ==

=== Minimum PWM (SERVO4_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO4_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO4_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO4_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO4_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO5_ Parameters ==

=== Minimum PWM (SERVO5_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO5_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO5_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO5_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO5_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO6_ Parameters ==

=== Minimum PWM (SERVO6_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO6_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO6_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO6_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO6_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO7_ Parameters ==

=== Minimum PWM (SERVO7_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO7_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO7_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO7_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO7_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO8_ Parameters ==

=== Minimum PWM (SERVO8_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO8_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO8_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO8_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO8_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO9_ Parameters ==

=== Minimum PWM (SERVO9_MIN) ===

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 500 2200
• Increment: 1
• Units: PWM in microseconds

=== Maximum PWM (SERVO9_MAX) ===

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Trim PWM (SERVO9_TRIM) ===

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200
• Increment: 1
• Units: PWM in microseconds

=== Servo reverse (SERVO9_REVERSED) ===

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

• Values || Value || Meaning || || 0 || Normal || || 1 || Reversed ||

=== Servo output function (SERVO9_FUNCTION) ===

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

• Values || Value || Meaning || || 0 || Disabled || || 1 || RCPassThru || || 2 || Flap || || 3 || Flap_auto || || 4 || Aileron || || 6 || mount_pan || || 7 || mount_tilt || || 8 || mount_roll || || 9 || mount_open || || 10 || camera_trigger || || 11 || release || || 12 || mount2_pan || || 13 || mount2_tilt || || 14 || mount2_roll || || 15 || mount2_open || || 16 || !DifferentialSpoilerLeft1 || || 17 || !DifferentialSpoilerRight1 || || 86 || !DifferentialSpoilerLeft2 || || 87 || !DifferentialSpoilerRight2 || || 19 || Elevator || || 21 || Rudder || || 24 || !FlaperonLeft || || 25 || !FlaperonRight || || 26 || !GroundSteering || || 27 || Parachute || || 28 || EPM || || 29 || !LandingGear || || 30 || !EngineRunEnable || || 31 || !HeliThrottle || || 32 || !HeliThrottle2 || || 33 || Motor1 || || 34 || Motor2 || || 35 || Motor3 || || 36 || Motor4 || || 37 || Motor5 || || 38 || Motor6 || || 39 || Motor7 || || 40 || Motor8 || || 41 || !MotorTilt || || 51 || RCIN1 || || 52 || RCIN2 || || 53 || RCIN3 || || 54 || RCIN4 || || 55 || RCIN5 || || 56 || RCIN6 || || 57 || RCIN7 || || 58 || RCIN8 || || 59 || RCIN9 || || 60 || RCIN10 || || 61 || RCIN11 || || 62 || RCIN12 || || 63 || RCIN13 || || 64 || RCIN14 || || 65 || RCIN15 || || 66 || RCIN16 || || 67 || Ignition || || 68 || Choke || || 69 || Starter || || 70 || Throttle || || 71 || !TrackerYaw || || 72 || !TrackerPitch || || 73 || !ThrottleLeft || || 74 || !ThrottleRight || || 75 || tiltMotorLeft || || 76 || tiltMotorRight || || 77 || !ElevonLeft || || 78 || !ElevonRight || || 79 || VTailLeft || || 80 || VTailRight || || 81 || !BoostThrottle || || 82 || Motor9 || || 83 || Motor10 || || 84 || Motor11 || || 85 || Motor12 || || 88 || Winch ||

== SERVO_BLH_ Parameters ==

=== Channel Bitmask (SERVO_BLH_MASK) ===

Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)

• Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16

=== auto-enable for multicopter motors (SERVO_BLH_AUTO) ===

If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== internal test of BLHeli interface (SERVO_BLH_TEST) ===

Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.

• Values || Value || Meaning || || 0 || Disabled || || 1 || !TestMotor1 || || 2 || !TestMotor2 || || 3 || !TestMotor3 || || 4 || !TestMotor4 || || 5 || !TestMotor5 || || 6 || !TestMotor6 || || 7 || !TestMotor7 || || 8 || !TestMotor8 ||

=== BLHeli protocol timeout (SERVO_BLH_TMOUT) ===

This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout

• Range: 0 300
• Units: seconds

=== BLHeli telemetry rate (SERVO_BLH_TRATE) ===

This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests

• Range: 0 500
• Units: hertz

=== BLHeli debug level (SERVO_BLH_DEBUG) ===

When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Output type override (SERVO_BLH_OTYPE) ===

When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.

• Values || Value || Meaning || || 0 || None || || 1 || !OneShot || || 2 || !OneShot125 || || 3 || Brushed || || 4 || DShot150 || || 5 || DShot300 || || 6 || DShot600 || || 7 || DShot1200 ||

=== Control port (SERVO_BLH_PORT) ===

This sets the telemetry port to use for blheli pass-thru

• Values || Value || Meaning || || 0 || Console || || 1 || Telem1 || || 2 || Telem2 || || 3 || Telem3 || || 4 || Telem4 || || 5 || Telem5 ||

== SERVO_SBUS_ Parameters ==

=== SBUS default output rate (SERVO_SBUS_RATE) ===

This sets the SBUS output frame rate in Hz.

• Range: 25 250
• Units: hertz

== SERVO_VOLZ_ Parameters ==

=== Channel Bitmask (SERVO_VOLZ_MASK) ===

Enable of volz servo protocol to specific channels

• Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16

== SPRAY_ Parameters ==

=== Sprayer enable/disable (SPRAY_ENABLE) ===

Allows you to enable (1) or disable (0) the sprayer

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Pump speed (SPRAY_PUMP_RATE) ===

Desired pump speed when traveling 1m/s expressed as a percentage

• Range: 0 100
• Units: percent

=== Spinner rotation speed (SPRAY_SPINNER) ===

Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)

• Range: 1000 2000
• Units: milliseconds

=== Speed minimum (SPRAY_SPEED_MIN) ===

Speed minimum at which we will begin spraying

• Range: 0 1000
• Units: centimeters per second

=== Pump speed minimum (SPRAY_PUMP_MIN) ===

Minimum pump speed expressed as a percentage

• Range: 0 100
• Units: percent

== SR0_ Parameters ==

=== Raw sensor stream rate (SR0_RAW_SENS) ===

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extended status stream rate to ground station (SR0_EXT_STAT) ===

Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== RC Channel stream rate to ground station (SR0_RC_CHAN) ===

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Raw Control stream rate to ground station (SR0_RAW_CTRL) ===

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Position stream rate to ground station (SR0_POSITION) ===

Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extra data type 1 stream rate to ground station (SR0_EXTRA1) ===

Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extra data type 2 stream rate to ground station (SR0_EXTRA2) ===

Stream rate of VFR_HUD to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extra data type 3 stream rate to ground station (SR0_EXTRA3) ===

Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Parameter stream rate to ground station (SR0_PARAMS) ===

Stream rate of PARAM_VALUE to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== ADSB stream rate to ground station (SR0_ADSB) ===

ADSB stream rate to ground station

• Range: 0 50
• Increment: 1
• Units: hertz

== SR1_ Parameters ==

=== Raw sensor stream rate (SR1_RAW_SENS) ===

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extended status stream rate to ground station (SR1_EXT_STAT) ===

Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== RC Channel stream rate to ground station (SR1_RC_CHAN) ===

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Raw Control stream rate to ground station (SR1_RAW_CTRL) ===

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Position stream rate to ground station (SR1_POSITION) ===

Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extra data type 1 stream rate to ground station (SR1_EXTRA1) ===

Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extra data type 2 stream rate to ground station (SR1_EXTRA2) ===

Stream rate of VFR_HUD to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extra data type 3 stream rate to ground station (SR1_EXTRA3) ===

Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Parameter stream rate to ground station (SR1_PARAMS) ===

Stream rate of PARAM_VALUE to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== ADSB stream rate to ground station (SR1_ADSB) ===

ADSB stream rate to ground station

• Range: 0 50
• Increment: 1
• Units: hertz

== SR2_ Parameters ==

=== Raw sensor stream rate (SR2_RAW_SENS) ===

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extended status stream rate to ground station (SR2_EXT_STAT) ===

Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== RC Channel stream rate to ground station (SR2_RC_CHAN) ===

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Raw Control stream rate to ground station (SR2_RAW_CTRL) ===

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Position stream rate to ground station (SR2_POSITION) ===

Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extra data type 1 stream rate to ground station (SR2_EXTRA1) ===

Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extra data type 2 stream rate to ground station (SR2_EXTRA2) ===

Stream rate of VFR_HUD to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extra data type 3 stream rate to ground station (SR2_EXTRA3) ===

Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Parameter stream rate to ground station (SR2_PARAMS) ===

Stream rate of PARAM_VALUE to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== ADSB stream rate to ground station (SR2_ADSB) ===

ADSB stream rate to ground station

• Range: 0 50
• Increment: 1
• Units: hertz

== SR3_ Parameters ==

=== Raw sensor stream rate (SR3_RAW_SENS) ===

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extended status stream rate to ground station (SR3_EXT_STAT) ===

Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== RC Channel stream rate to ground station (SR3_RC_CHAN) ===

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Raw Control stream rate to ground station (SR3_RAW_CTRL) ===

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Position stream rate to ground station (SR3_POSITION) ===

Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extra data type 1 stream rate to ground station (SR3_EXTRA1) ===

Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extra data type 2 stream rate to ground station (SR3_EXTRA2) ===

Stream rate of VFR_HUD to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Extra data type 3 stream rate to ground station (SR3_EXTRA3) ===

Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== Parameter stream rate to ground station (SR3_PARAMS) ===

Stream rate of PARAM_VALUE to ground station

• Range: 0 10
• Increment: 1
• Units: hertz

=== ADSB stream rate to ground station (SR3_ADSB) ===

ADSB stream rate to ground station

• Range: 0 50
• Increment: 1
• Units: hertz

== SRTL_ Parameters ==

=== !SmartRTL accuracy (SRTL_ACCURACY) ===

SmartRTL accuracy. The minimum distance between points.

• Range: 0 10
• Units: meters

=== !SmartRTL maximum number of points on path (SRTL_POINTS) ===

SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory.

• Range: 0 500
• !RebootRequired: True

== STAT Parameters ==

=== Boot Count (STAT_BOOTCNT) ===

Number of times board has been booted

• !ReadOnly: True

=== Total FlightTime (STAT_FLTTIME) ===

Total FlightTime (seconds)

• !ReadOnly: True
• Units: seconds

=== Total RunTime (STAT_RUNTIME) ===

Total time autopilot has run

• !ReadOnly: True
• Units: seconds

=== Reset time (STAT_RESET) ===

Seconds since January 1st 2016 (Unix epoch+1451606400) since reset (set to 0 to reset statistics)

• !ReadOnly: True
• Units: seconds

== TCAL Parameters ==

=== Temperature calibration enable (TCALENABLED) ===

Enable temperature calibration. Set to 0 to disable. Set to 1 to use learned values. Set to 2 to learn new values and use the values

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled || || 2 || !EnableAndLearn ||

=== Min learned temperature (TCALTEMP_MIN) ===

Minimum learned temperature. This is automatically set by the learning process

• !ReadOnly: True
• Volatile: True
• Units: degrees Celsius

=== Min learned temperature (TCALTEMP_MIN) ===

Minimum learned temperature. This is automatically set by the learning process

• !ReadOnly: True
• Volatile: True
• Units: degrees Celsius

=== Max learned temperature (TCALTEMP_MAX) ===

Maximum learned temperature. This is automatically set by the learning process

• !ReadOnly: True
• Volatile: True
• Units: degrees Celsius

=== Barometer exponent (TCALBARO_EXP) ===

Learned exponent for barometer temperature correction

• !ReadOnly: True
• Volatile: True

== TERRAIN_ Parameters ==

=== Terrain data enable (TERRAIN_ENABLE) ===

enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.

• Values || Value || Meaning || || 0 || Disable || || 1 || Enable ||

=== Terrain grid spacing (TERRAIN_SPACING) ===

Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.

• Increment: 1
• Units: meters

== TMODE Parameters ==

=== tmode enable (TMODE_ENABLE) ===

tmode (or "toy" mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards

• Values || Value || Meaning || || 0 || Disabled || || 1 || !EnableVersion1 || || 2 || !EnableVersion2 ||

=== Tmode first mode (TMODE_MODE1) ===

This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS

• 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 || !FlowHold ||

=== Tmode second mode (TMODE_MODE2) ===

This is the secondary mode. This mode is assumed to require GPS

• 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 || !FlowHold ||

=== Tmode action 1 (TMODE_ACTION1) ===

This is the action taken for the left action button

• Values || Value || Meaning || || 0 || None || || 1 || !TakePhoto || || 2 || !ToggleVideo || || 3 || !ModeAcro || || 4 || !ModeAltHold || || 5 || !ModeAuto || || 6 || !ModeLoiter || || 7 || !ModeRTL || || 8 || !ModeCircle || || 9 || !ModeLand || || 10 || !ModeDrift || || 11 || !ModeSport || || 12 || !ModeAutoTune || || 13 || !ModePosHold || || 14 || !ModeBrake || || 15 || !ModeThrow || || 16 || Flip || || 17 || !ModeStabilize || || 18 || Disarm || || 19 || !ToggleMode || || 20 || Arm-Land-RTL || || 21 || !ToggleSimpleMode || || 22 || !ToggleSuperSimpleMode || || 23 || !MotorLoadTest || || 24 || !ModeFlowHold ||

=== Tmode action 2 (TMODE_ACTION2) ===

This is the action taken for the right action button

• Values || Value || Meaning || || 0 || None || || 1 || !TakePhoto || || 2 || !ToggleVideo || || 3 || !ModeAcro || || 4 || !ModeAltHold || || 5 || !ModeAuto || || 6 || !ModeLoiter || || 7 || !ModeRTL || || 8 || !ModeCircle || || 9 || !ModeLand || || 10 || !ModeDrift || || 11 || !ModeSport || || 12 || !ModeAutoTune || || 13 || !ModePosHold || || 14 || !ModeBrake || || 15 || !ModeThrow || || 16 || Flip || || 17 || !ModeStabilize || || 18 || Disarm || || 19 || !ToggleMode || || 20 || Arm-Land-RTL || || 21 || !ToggleSimpleMode || || 22 || !ToggleSuperSimpleMode || || 23 || !MotorLoadTest || || 24 || !ModeFlowHold ||

=== Tmode action 3 (TMODE_ACTION3) ===

This is the action taken for the power button

• Values || Value || Meaning || || 0 || None || || 1 || !TakePhoto || || 2 || !ToggleVideo || || 3 || !ModeAcro || || 4 || !ModeAltHold || || 5 || !ModeAuto || || 6 || !ModeLoiter || || 7 || !ModeRTL || || 8 || !ModeCircle || || 9 || !ModeLand || || 10 || !ModeDrift || || 11 || !ModeSport || || 12 || !ModeAutoTune || || 13 || !ModePosHold || || 14 || !ModeBrake || || 15 || !ModeThrow || || 16 || Flip || || 17 || !ModeStabilize || || 18 || Disarm || || 19 || !ToggleMode || || 20 || Arm-Land-RTL || || 21 || !ToggleSimpleMode || || 22 || !ToggleSuperSimpleMode || || 23 || !MotorLoadTest || || 24 || !ModeFlowHold ||

=== Tmode action 4 (TMODE_ACTION4) ===

This is the action taken for the left action button while the mode button is pressed

• Values || Value || Meaning || || 0 || None || || 1 || !TakePhoto || || 2 || !ToggleVideo || || 3 || !ModeAcro || || 4 || !ModeAltHold || || 5 || !ModeAuto || || 6 || !ModeLoiter || || 7 || !ModeRTL || || 8 || !ModeCircle || || 9 || !ModeLand || || 10 || !ModeDrift || || 11 || !ModeSport || || 12 || !ModeAutoTune || || 13 || !ModePosHold || || 14 || !ModeBrake || || 15 || !ModeThrow || || 16 || Flip || || 17 || !ModeStabilize || || 18 || Disarm || || 19 || !ToggleMode || || 20 || Arm-Land-RTL || || 21 || !ToggleSimpleMode || || 22 || !ToggleSuperSimpleMode || || 23 || !MotorLoadTest || || 24 || !ModeFlowHold ||

=== Tmode action 5 (TMODE_ACTION5) ===

This is the action taken for the right action button while the mode button is pressed

• Values || Value || Meaning || || 0 || None || || 1 || !TakePhoto || || 2 || !ToggleVideo || || 3 || !ModeAcro || || 4 || !ModeAltHold || || 5 || !ModeAuto || || 6 || !ModeLoiter || || 7 || !ModeRTL || || 8 || !ModeCircle || || 9 || !ModeLand || || 10 || !ModeDrift || || 11 || !ModeSport || || 12 || !ModeAutoTune || || 13 || !ModePosHold || || 14 || !ModeBrake || || 15 || !ModeThrow || || 16 || Flip || || 17 || !ModeStabilize || || 18 || Disarm || || 19 || !ToggleMode || || 20 || Arm-Land-RTL || || 21 || !ToggleSimpleMode || || 22 || !ToggleSuperSimpleMode || || 23 || !MotorLoadTest || || 24 || !ModeFlowHold ||

=== Tmode action 6 (TMODE_ACTION6) ===

This is the action taken for the power button while the mode button is pressed

• Values || Value || Meaning || || 0 || None || || 1 || !TakePhoto || || 2 || !ToggleVideo || || 3 || !ModeAcro || || 4 || !ModeAltHold || || 5 || !ModeAuto || || 6 || !ModeLoiter || || 7 || !ModeRTL || || 8 || !ModeCircle || || 9 || !ModeLand || || 10 || !ModeDrift || || 11 || !ModeSport || || 12 || !ModeAutoTune || || 13 || !ModePosHold || || 14 || !ModeBrake || || 15 || !ModeThrow || || 16 || Flip || || 17 || !ModeStabilize || || 18 || Disarm || || 19 || !ToggleMode || || 20 || Arm-Land-RTL || || 21 || !ToggleSimpleMode || || 22 || !ToggleSuperSimpleMode || || 23 || !MotorLoadTest || || 24 || !ModeFlowHold ||

=== Tmode left action (TMODE_LEFT) ===

This is the action taken for the left button (mode button) being pressed

• Values || Value || Meaning || || 0 || None || || 1 || !TakePhoto || || 2 || !ToggleVideo || || 3 || !ModeAcro || || 4 || !ModeAltHold || || 5 || !ModeAuto || || 6 || !ModeLoiter || || 7 || !ModeRTL || || 8 || !ModeCircle || || 9 || !ModeLand || || 10 || !ModeDrift || || 11 || !ModeSport || || 12 || !ModeAutoTune || || 13 || !ModePosHold || || 14 || !ModeBrake || || 15 || !ModeThrow || || 16 || Flip || || 17 || !ModeStabilize || || 18 || Disarm || || 19 || !ToggleMode || || 20 || Arm-Land-RTL || || 21 || !ToggleSimpleMode || || 22 || !ToggleSuperSimpleMode || || 23 || !MotorLoadTest || || 24 || !ModeFlowHold ||

=== Tmode left long action (TMODE_LEFT_LONG) ===

This is the action taken for a long press of the left button (home button)

• Values || Value || Meaning || || 0 || None || || 1 || !TakePhoto || || 2 || !ToggleVideo || || 3 || !ModeAcro || || 4 || !ModeAltHold || || 5 || !ModeAuto || || 6 || !ModeLoiter || || 7 || !ModeRTL || || 8 || !ModeCircle || || 9 || !ModeLand || || 10 || !ModeDrift || || 11 || !ModeSport || || 12 || !ModeAutoTune || || 13 || !ModePosHold || || 14 || !ModeBrake || || 15 || !ModeThrow || || 16 || Flip || || 17 || !ModeStabilize || || 18 || Disarm || || 19 || !ToggleMode || || 20 || Arm-Land-RTL || || 21 || !ToggleSimpleMode || || 22 || !ToggleSuperSimpleMode || || 23 || !MotorLoadTest || || 24 || !ModeFlowHold ||

=== Stick auto trim limit (TMODE_TRIM_AUTO) ===

This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving. It is a PWM limit value away from 1500

• Range: 0 100

=== Tmode right action (TMODE_RIGHT) ===

This is the action taken for the right button (RTL) being pressed

• Values || Value || Meaning || || 0 || None || || 1 || !TakePhoto || || 2 || !ToggleVideo || || 3 || !ModeAcro || || 4 || !ModeAltHold || || 5 || !ModeAuto || || 6 || !ModeLoiter || || 7 || !ModeRTL || || 8 || !ModeCircle || || 9 || !ModeLand || || 10 || !ModeDrift || || 11 || !ModeSport || || 12 || !ModeAutoTune || || 13 || !ModePosHold || || 14 || !ModeBrake || || 15 || !ModeThrow || || 16 || Flip || || 17 || !ModeStabilize || || 18 || Disarm || || 19 || !ToggleMode || || 20 || Arm-Land-RTL || || 21 || !ToggleSimpleMode || || 22 || !ToggleSuperSimpleMode || || 23 || !MotorLoadTest ||

=== Tmode flags (TMODE_FLAGS) ===

Bitmask of flags to change the behaviour of tmode. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed. ArmOnHighThrottle means to arm if throttle is above 80% for 1 second. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT_HOLD, then auto-upgrading to LOITER once GPS is available. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged

• Bitmask: 0:DisarmOnLowThrottle,1:ArmOnHighThrottle,2:UpgradeToLoiter,3:RTLStickCancel

=== Min voltage for output limiting (TMODE_VMIN) ===

This is the battery voltage below which no output limiting is done

• Range: 0 5
• Increment: 0.01

=== Max voltage for output limiting (TMODE_VMAX) ===

This is the battery voltage above which thrust min is used

• Range: 0 5
• Increment: 0.01

=== Min thrust multiplier (TMODE_TMIN) ===

This sets the thrust multiplier when voltage is high

• Range: 0 1
• Increment: 0.01

=== Max thrust multiplier (TMODE_TMAX) ===

This sets the thrust multiplier when voltage is low

• Range: 0 1
• Increment: 0.01

=== Load test multiplier (TMODE_LOAD_MUL) ===

This scales the load test output, as a value between 0 and 1

• Range: 0 1
• Increment: 0.01

=== Load test filter (TMODE_LOAD_FILT) ===

This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc

• Range: 0 100

=== Load test type (TMODE_LOAD_TYPE) ===

This sets the type of load test

• Values || Value || Meaning || || 0 || !ConstantThrust || || 1 || !LogReplay1 || || 2 || !LogReplay2 ||

== VISO Parameters ==

=== Visual odometry camera connection type (VISO_TYPE) ===

Visual odometry camera connection type

• Values || Value || Meaning || || 0 || None || || 1 || MAV ||

=== Visual odometry camera X position offset (VISO_POS_X) ===

X position of the camera in body frame. Positive X is forward of the origin.

• Units: meters

=== Visual odometry camera Y position offset (VISO_POS_Y) ===

Y position of the camera in body frame. Positive Y is to the right of the origin.

• Units: meters

=== Visual odometry camera Z position offset (VISO_POS_Z) ===

Z position of the camera in body frame. Positive Z is down from the origin.

• Units: meters

=== Visual odometery camera orientation (VISO_ORIENT) ===

Visual odometery camera orientation

• Values || Value || Meaning || || 0 || Forward || || 2 || Right || || 4 || Back || || 6 || Left || || 24 || Up || || 25 || Down ||

== WENC Parameters ==

=== !WheelEncoder type (WENC_TYPE) ===

What type of WheelEncoder is connected

• Values || Value || Meaning || || 0 || None || || 1 || Quadrature ||

=== !WheelEncoder counts per revolution (WENC_CPR) ===

WheelEncoder counts per full revolution of the wheel

• Increment: 1

=== Wheel radius in meters (WENC_RADIUS) ===

Wheel radius in meters

• Increment: 0.001

=== Wheel's X position offset (WENC_POS_X) ===

X position of the center of the wheel in body frame. Positive X is forward of the origin.

• Increment: 0.01
• Units: meters

=== Wheel's Y position offset (WENC_POS_Y) ===

Y position of the center of the wheel in body frame. Positive Y is to the right of the origin.

• Increment: 0.01
• Units: meters

=== Wheel's Z position offset (WENC_POS_Z) ===

Z position of the center of the wheel in body frame. Positive Z is down from the origin.

• Increment: 0.01
• Units: meters

=== Input Pin A (WENC_PINA) ===

Input Pin A

• Values || Value || Meaning || || -1 || Disabled || || 50 || !PixhawkAUX1 || || 51 || !PixhawkAUX2 || || 52 || !PixhawkAUX3 || || 53 || !PixhawkAUX4 || || 54 || !PixhawkAUX5 || || 55 || !PixhawkAUX6 ||

=== Input Pin B (WENC_PINB) ===

Input Pin B

• Values || Value || Meaning || || -1 || Disabled || || 50 || !PixhawkAUX1 || || 51 || !PixhawkAUX2 || || 52 || !PixhawkAUX3 || || 53 || !PixhawkAUX4 || || 54 || !PixhawkAUX5 || || 55 || !PixhawkAUX6 ||

=== Second WheelEncoder type (WENC2_TYPE) ===

What type of WheelEncoder sensor is connected

• Values || Value || Meaning || || 0 || None || || 1 || Quadrature ||

=== !WheelEncoder 2 counts per revolution (WENC2_CPR) ===

WheelEncoder 2 counts per full revolution of the wheel

• Increment: 1

=== Wheel2's radius in meters (WENC2_RADIUS) ===

Wheel2's radius in meters

• Increment: 0.001

=== Wheel2's X position offset (WENC2_POS_X) ===

X position of the center of the second wheel in body frame. Positive X is forward of the origin.

• Increment: 0.01
• Units: meters

=== Wheel2's Y position offset (WENC2_POS_Y) ===

Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin.

• Increment: 0.01
• Units: meters

=== Wheel2's Z position offset (WENC2_POS_Z) ===

Z position of the center of the second wheel in body frame. Positive Z is down from the origin.

• Increment: 0.01
• Units: meters

=== Second Encoder Input Pin A (WENC2_PINA) ===

Second Encoder Input Pin A

• Values || Value || Meaning || || -1 || Disabled || || 50 || !PixhawkAUX1 || || 51 || !PixhawkAUX2 || || 52 || !PixhawkAUX3 || || 53 || !PixhawkAUX4 || || 54 || !PixhawkAUX5 || || 55 || !PixhawkAUX6 ||

=== Second Encoder Input Pin B (WENC2_PINB) ===

Second Encoder Input Pin B

• Values || Value || Meaning || || -1 || Disabled || || 50 || !PixhawkAUX1 || || 51 || !PixhawkAUX2 || || 52 || !PixhawkAUX3 || || 53 || !PixhawkAUX4 || || 54 || !PixhawkAUX5 || || 55 || !PixhawkAUX6 ||

== WINCH_ Parameters ==

=== Winch enable/disable (WINCH_ENABLE) ===

Winch enable/disable

• Values || Value || Meaning || || 0 || Disabled || || 1 || Enabled ||

=== Winch Type (WINCH_TYPE) ===

Winch Type

• Values || Value || Meaning || || 1 || Servo with encoder ||

=== Winch deploy or retract rate maximum (WINCH__RATE_MAX) ===

Winch deploy or retract rate maximum. Set to maximum rate with no load.

• Range: 0 10
• Units: meters per second

=== Winch control position error P gain (WINCH__POS_P) ===

Winch control position error P gain

• Range: 0.01 10.0

=== Winch control rate P gain (WINCH__RATE_P) ===

Winch control rate P gain. Converts rate error (in radians/sec) to pwm output (in the range -1 to +1)

• Range: 0.100 2.000

=== Winch control I gain (WINCH__RATE_I) ===

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

• Range: 0.000 2.000

=== Winch control I gain maximum (WINCH__RATE_IMAX) ===

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

• Range: 0.000 1.000

=== Winch control D gain (WINCH__RATE_D) ===

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

• Range: 0.000 0.400

=== Winch control filter frequency (WINCH__RATE_FILT) ===

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

• Range: 1.000 100.000
• Units: hertz

== WPNAV_ Parameters ==

=== Waypoint Horizontal Speed Target (WPNAV_SPEED) ===

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission

• Range: 20 2000
• Increment: 50
• Units: centimeters per second

=== Waypoint Radius (WPNAV_RADIUS) ===

Defines the distance from a waypoint, that when crossed indicates the wp has been hit.

• Range: 10 1000
• Increment: 1
• Units: centimeters

=== Waypoint Climb Speed Target (WPNAV_SPEED_UP) ===

Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission

• Range: 10 1000
• Increment: 50
• Units: centimeters per second

=== Waypoint Descent Speed Target (WPNAV_SPEED_DN) ===

Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission

• Range: 10 500
• Increment: 10
• Units: centimeters per second

=== Waypoint Acceleration (WPNAV_ACCEL) ===

Defines the horizontal acceleration in cm/s/s used during missions

• Range: 50 500
• Increment: 10
• Units: centimeters per square second

=== Waypoint Vertical Acceleration (WPNAV_ACCEL_Z) ===

Defines the vertical acceleration in cm/s/s used during missions

• Range: 50 500
• Increment: 10
• Units: centimeters per square second

=== Waypoint missions use rangefinder for terrain following (WPNAV_RFND_USE) ===

This controls if waypoint missions use rangefinder for terrain following

• Values || Value || Meaning || || 0 || Disable || || 1 || Enable ||