| コマンド |
値 |
単位 |
オプション |
説明 |
FAV |
| ACRO_BAL_PITCH |
1 |
|
0
3 |
rate
at which pitch angle returns to level in acro and sport mode. A higher
value causes the vehicle to return to level faster. |
FALSE |
| ACRO_BAL_ROLL |
1 |
|
0
3 |
rate
at which roll angle returns to level in acro and sport mode. A higher
value causes the vehicle to return to level faster. |
FALSE |
| ACRO_RP_EXPO |
0.3 |
|
-0.5
1.00:Disabled 0.1:Very Low 0.2:Low 0.3:Medium 0.4:High 0.5:Very High |
Acro
roll/pitch Expo to allow faster rotation when stick at edges |
FALSE |
| ACRO_RP_P |
4.5 |
|
1
10 |
Converts
pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.
Higher values mean faster rate of rotation. |
FALSE |
| ACRO_THR_MID |
0 |
|
0
1 |
Acro
Throttle Mid |
FALSE |
| ACRO_TRAINER |
2 |
|
0:Disabled
1:Leveling 2:Leveling and Limited |
Type
of trainer used in acro mode |
FALSE |
| ACRO_Y_EXPO |
0 |
|
-0.5
1.00:Disabled 0.1:Very Low 0.2:Low 0.3:Medium 0.4:High 0.5:Very High |
Acro
yaw expo to allow faster rotation when stick at edges |
FALSE |
| ACRO_YAW_P |
4.5 |
|
1
10 |
Converts
pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT
modes. Higher values mean faster rate of rotation. |
FALSE |
| ADSB_ENABLE |
0 |
|
0:Disabled
1:Enabled |
Enable
ADS-B |
FALSE |
| AHRS_COMP_BETA |
0.1 |
|
0.001
0.5 |
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. |
FALSE |
| AHRS_CUSTOM_PIT |
0 |
deg |
-180
180 |
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. |
FALSE |
| AHRS_CUSTOM_ROLL |
0 |
deg |
-180
180 |
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. |
FALSE |
| AHRS_CUSTOM_YAW |
0 |
deg |
-180
180 |
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. |
FALSE |
| AHRS_EKF_TYPE |
2 |
|
0:Disabled
2:Enable EKF2 3:Enable EKF3 |
This
controls which NavEKF Kalman filter version is used for attitude and position
estimation |
FALSE |
| AHRS_GPS_GAIN |
1 |
|
0.0
1.0 |
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. |
FALSE |
| AHRS_GPS_MINSATS |
6 |
|
0
10 |
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. |
FALSE |
| AHRS_GPS_USE |
1 |
|
0:Disabled
1:Enabled |
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. |
FALSE |
| AHRS_ORIENTATION |
0 |
|
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 |
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. |
FALSE |
| AHRS_RP_P |
0.2 |
|
0.1
0.4 |
This
controls how fast the accelerometers correct the attitude |
FALSE |
| AHRS_TRIM_X |
0 |
rad |
0 |
Compensates
for the roll angle difference between the control board and the frame.
Positive values make the vehicle roll right. |
FALSE |
| AHRS_TRIM_Y |
0 |
rad |
0 |
Compensates
for the pitch angle difference between the control board and the frame.
Positive values make the vehicle pitch up/back. |
FALSE |
| AHRS_TRIM_Z |
0 |
rad |
0 |
Not
Used |
FALSE |
| AHRS_WIND_MAX |
0 |
m/s |
0
127 |
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. |
FALSE |
| AHRS_YAW_P |
0.2 |
|
0.1
0.4 |
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. |
FALSE |
| ANGLE_MAX |
4500 |
cdeg |
1000
8000 |
Maximum
lean angle in all flight modes |
FALSE |
| ARMING_ACCTHRESH |
0.75 |
m/s/s |
0.25
3.0 |
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. |
FALSE |
| ARMING_CHECK |
1 |
|
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 |
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. |
FALSE |
| ARMING_MIS_ITEMS |
0 |
|
|
|
FALSE |
| ARMING_RUDDER |
2 |
|
0:Disabled
1:ArmingOnly 2:ArmOrDisarm |
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) |
FALSE |
| ATC_ACCEL_P_MAX |
110000 |
cdeg/s/s |
0
1800000:Disabled 30000:VerySlow 72000:Slow 108000:Medium
162000:Fast |
Maximum
acceleration in pitch axis |
FALSE |
| ATC_ACCEL_R_MAX |
110000 |
cdeg/s/s |
0
1800000:Disabled 30000:VerySlow 72000:Slow 108000:Medium
162000:Fast |
Maximum
acceleration in roll axis |
FALSE |
| ATC_ACCEL_Y_MAX |
27000 |
cdeg/s/s |
0
720000:Disabled 9000:VerySlow 18000:Slow 36000:Medium
54000:Fast |
Maximum
acceleration in yaw axis |
FALSE |
| ATC_ANG_LIM_TC |
1 |
|
0.5
10.0 |
Angle
Limit (to maintain altitude) Time Constant |
FALSE |
| ATC_ANG_PIT_P |
4.5 |
|
3.000
12.000 |
Pitch
axis angle controller P gain. Converts the error between the desired
pitch angle and actual angle to a desired pitch rate |
FALSE |
| ATC_ANG_RLL_P |
4.5 |
|
3.000
12.000 |
Roll
axis angle controller P gain. Converts the error between the desired
roll angle and actual angle to a desired roll rate |
FALSE |
| ATC_ANG_YAW_P |
4.5 |
|
3.000
6.000 |
Yaw
axis angle controller P gain. Converts the error between the desired
yaw angle and actual angle to a desired yaw rate |
FALSE |
| ATC_ANGLE_BOOST |
1 |
|
0:Disabled
1:Enabled |
Angle
Boost increases output throttle as the vehicle leans to reduce loss of
altitude |
FALSE |
| ATC_INPUT_TC |
0.15 |
s |
0
10.5:Very Soft 0.2:Soft 0.15:Medium 0.1:Crisp
0.05:Very Crisp |
Attitude
control input time constant. Low numbers lead to sharper response,
higher numbers to softer response |
FALSE |
| ATC_RAT_PIT_D |
0.0036 |
|
0.0
0.02 |
Pitch
axis rate controller D gain. Compensates for short-term change in
desired pitch rate vs actual pitch rate |
FALSE |
| ATC_RAT_PIT_FF |
0 |
|
0
0.5 |
Pitch
axis rate controller feed forward |
FALSE |
| ATC_RAT_PIT_FILT |
20 |
Hz |
1
100 |
Pitch
axis rate controller input frequency in Hz |
FALSE |
| ATC_RAT_PIT_I |
0.135 |
|
0.01
2.0 |
Pitch
axis rate controller I gain. Corrects long-term difference in desired
pitch rate vs actual pitch rate |
FALSE |
| ATC_RAT_PIT_IMAX |
0.5 |
% |
0
1 |
Pitch
axis rate controller I gain maximum. Constrains the maximum motor
output that the I gain will output |
FALSE |
| ATC_RAT_PIT_P |
0.135 |
|
0.05
0.50 |
Pitch
axis rate controller P gain. Converts the difference between desired
pitch rate and actual pitch rate into a motor speed output |
FALSE |
| ATC_RAT_RLL_D |
0.0036 |
|
0.0
0.02 |
Roll
axis rate controller D gain. Compensates for short-term change in
desired roll rate vs actual roll rate |
FALSE |
| ATC_RAT_RLL_FF |
0 |
|
0
0.5 |
Roll
axis rate controller feed forward |
FALSE |
| ATC_RAT_RLL_FILT |
20 |
Hz |
1
100 |
Roll
axis rate controller input frequency in Hz |
FALSE |
| ATC_RAT_RLL_I |
0.135 |
|
0.01
2.0 |
Roll
axis rate controller I gain. Corrects long-term difference in desired
roll rate vs actual roll rate |
FALSE |
| ATC_RAT_RLL_IMAX |
0.5 |
% |
0
1 |
Roll
axis rate controller I gain maximum. Constrains the maximum motor
output that the I gain will output |
FALSE |
| ATC_RAT_RLL_P |
0.135 |
|
0.05
0.5 |
Roll
axis rate controller P gain. Converts the difference between desired
roll rate and actual roll rate into a motor speed output |
FALSE |
| ATC_RAT_YAW_D |
0 |
|
0.000
0.02 |
Yaw
axis rate controller D gain. Compensates for short-term change in
desired yaw rate vs actual yaw rate |
FALSE |
| ATC_RAT_YAW_FF |
0 |
|
0
0.5 |
Yaw
axis rate controller feed forward |
FALSE |
| ATC_RAT_YAW_FILT |
2.5 |
Hz |
1
10 |
Yaw
axis rate controller input frequency in Hz |
FALSE |
| ATC_RAT_YAW_I |
0.018 |
|
0.010
1.0 |
Yaw
axis rate controller I gain. Corrects long-term difference in desired
yaw rate vs actual yaw rate |
FALSE |
| ATC_RAT_YAW_IMAX |
0.5 |
% |
0
1 |
Yaw
axis rate controller I gain maximum. Constrains the maximum motor
output that the I gain will output |
FALSE |
| ATC_RAT_YAW_P |
0.18 |
|
0.10
2.50 |
Yaw
axis rate controller P gain. Converts the difference between desired
yaw rate and actual yaw rate into a motor speed output |
FALSE |
| ATC_RATE_FF_ENAB |
1 |
|
0:Disabled
1:Enabled |
Controls
whether body-frame rate feedfoward is enabled or disabled |
FALSE |
| ATC_RATE_P_MAX |
0 |
deg/s |
0
10800:Disabled 360:Slow 720:Medium 1080:Fast |
Maximum
angular velocity in pitch axis |
FALSE |
| ATC_RATE_R_MAX |
0 |
deg/s |
0
10800:Disabled 360:Slow 720:Medium 1080:Fast |
Maximum
angular velocity in roll axis |
FALSE |
| ATC_RATE_Y_MAX |
0 |
deg/s |
0
10800:Disabled 360:Slow 720:Medium 1080:Fast |
Maximum
angular velocity in pitch axis |
FALSE |
| ATC_SLEW_YAW |
6000 |
cdeg/s |
500
18000 |
Maximum
rate the yaw target can be updated in Loiter, RTL, Auto flight modes |
FALSE |
| ATC_THR_MIX_MAN |
0.1 |
|
0.1
0.9 |
Throttle
vs attitude control prioritisation used during manual flight (higher values
mean we prioritise attitude control over throttle) |
FALSE |
| ATC_THR_MIX_MAX |
0.5 |
|
0.5
0.9 |
Throttle
vs attitude control prioritisation used during active flight (higher values
mean we prioritise attitude control over throttle) |
FALSE |
| ATC_THR_MIX_MIN |
0.1 |
|
0.1
0.25 |
Throttle
vs attitude control prioritisation used when landing (higher values mean we
prioritise attitude control over throttle) |
FALSE |
| AUTOTUNE_AGGR |
0.1 |
|
0.05
0.10 |
Autotune
aggressiveness. Defines the bounce back used to detect size of the D term. |
FALSE |
| AUTOTUNE_AXES |
7 |
|
7:All
1:Roll Only 2:Pitch Only 4:Yaw Only 3:Roll and Pitch 5:Roll and Yaw 6:Pitch
and Yaw |
1-byte
bitmap of axes to autotune |
FALSE |
| AUTOTUNE_MIN_D |
0.001 |
|
0.001
0.006 |
Defines
the minimum D gain |
FALSE |
| AVD_ENABLE |
0 |
|
0:Disabled
1:Enabled |
Enable
Avoidance using ADSB |
FALSE |
| AVOID_ANGLE_MAX |
1000 |
cdeg |
0
4500 |
Max
lean angle used to avoid obstacles while in non-GPS modes |
FALSE |
| AVOID_BEHAVE |
0 |
|
0:Slide
1:Stop |
Avoidance
behaviour (slide or stop) |
FALSE |
| AVOID_DIST_MAX |
5 |
m |
1
30 |
Distance
from object at which obstacle avoidance will begin in non-GPS modes |
FALSE |
| AVOID_ENABLE |
3 |
|
0:None
1:StopAtFence 2:UseProximitySensor 3:StopAtFence and UseProximitySensor
4:StopAtBeaconFence 7:All |
Enabled/disable
stopping at fence |
FALSE |
| AVOID_MARGIN |
2 |
m |
1
10 |
Vehicle
will attempt to stay at least this distance (in meters) from objects while in
GPS modes |
FALSE |
| BATT_AMP_OFFSET |
0 |
V |
|
Voltage
offset at zero current on current sensor |
FALSE |
| BATT_AMP_PERVLT |
17 |
A/V |
|
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. |
FALSE |
| BATT_ARM_MAH |
0 |
|
|
|
FALSE |
| BATT_ARM_VOLT |
0 |
|
|
|
FALSE |
| BATT_CAPACITY |
3300 |
mAh |
|
Capacity
of the battery in mAh when full |
FALSE |
| BATT_CRT_MAH |
0 |
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 @ |
FALSE |
| BATT_CRT_VOLT |
0 |
V |
|
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 @ |
FALSE |
| BATT_CURR_PIN |
12 |
|
-1:Disabled
1:A1 2:A2 3:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14:Pixhawk2_PM2 101:PX4-v1 |
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. |
FALSE |
| BATT_FS_CRT_ACT |
0 |
|
0:None
1:Land 2:RTL 3:SmartRTL 4:SmartRTL or Land 5:Terminate |
What
action the vehicle should perform if it hits a critical battery failsafe |
FALSE |
| BATT_FS_LOW_ACT |
0 |
|
0:None
1:Land 2:RTL 3:SmartRTL 4:SmartRTL or Land 5:Terminate |
What
action the vehicle should perform if it hits a low battery failsafe |
FALSE |
| BATT_FS_VOLTSRC |
0 |
|
0:Raw
Voltage 1:Sag Compensated Voltage |
Voltage
type used for detection of low voltage event |
FALSE |
| BATT_LOW_MAH |
0 |
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 @ |
FALSE |
| BATT_LOW_TIMER |
10 |
s |
0
120 |
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. |
FALSE |
| BATT_LOW_VOLT |
10.5 |
V |
|
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 @ |
FALSE |
| BATT_MONITOR |
4 |
|
0:Disabled
3:Analog Voltage Only 4:Analog Voltage and Current 5:Solo 6:Bebop
7:SMBus-Maxell 8:UAVCAN-BatteryInfo 9:BLHeli ESC |
Controls
enabling monitoring of the battery's voltage and current |
FALSE |
| BATT_SERIAL_NUM |
-1 |
|
|
Battery
serial number, automatically filled in for SMBus batteries, otherwise will be
-1. With UAVCAN it is the battery_id. |
FALSE |
| BATT_VOLT_MULT |
10.1 |
|
|
Used
to convert the voltage of the voltage sensing pin (@ |
FALSE |
| BATT_VOLT_PIN |
13 |
|
-1:Disabled
0:A0 1:A1 2:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13:Pixhawk2_PM2 100:PX4-v1 |
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. |
FALSE |
| BATT2_MONITOR |
0 |
|
0:Disabled
3:Analog Voltage Only 4:Analog Voltage and Current 5:Solo 6:Bebop
7:SMBus-Maxell 8:UAVCAN-BatteryInfo 9:BLHeli ESC |
Controls
enabling monitoring of the battery's voltage and current |
FALSE |
| BATT3_MONITOR |
0 |
|
|
|
FALSE |
| BATT4_MONITOR |
0 |
|
|
|
FALSE |
| BATT5_MONITOR |
0 |
|
|
|
FALSE |
| BATT6_MONITOR |
0 |
|
|
|
FALSE |
| BATT7_MONITOR |
0 |
|
|
|
FALSE |
| BATT8_MONITOR |
0 |
|
|
|
FALSE |
| BATT9_MONITOR |
0 |
|
|
|
FALSE |
| BCN_ALT |
0 |
m |
0
10000 |
Beacon
origin's altitude above sealevel in meters |
FALSE |
| BCN_LATITUDE |
0 |
deg |
-90
90 |
Beacon
origin's latitude |
FALSE |
| BCN_LONGITUDE |
0 |
deg |
-180
180 |
Beacon
origin's longitude |
FALSE |
| BCN_ORIENT_YAW |
0 |
deg |
0 |
Beacon
systems rotation from north in degrees |
FALSE |
| BCN_TYPE |
0 |
|
0:None
1:Pozyx 2:Marvelmind |
What
type of beacon based position estimation device is connected |
FALSE |
| BRD_OPTIONS |
0 |
|
|
|
FALSE |
| BRD_PWM_COUNT |
8 |
|
0:No
PWMs 2:Two PWMs 4:Four PWMs 6:Six PWMs 7:Three PWMs and One Capture |
Control
assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned
pins can be used for GPIO |
FALSE |
| BRD_RTC_TYPES |
1 |
|
|
Specifies
which sources of UTC time will be accepted |
FALSE |
| BRD_SERIAL_NUM |
0 |
|
-32768
32767 |
User-defined
serial number of this vehicle, it can be any arbitrary number you want and
has no effect on the autopilot |
FALSE |
| BRD_VBUS_MIN |
4.3 |
|
|
|
FALSE |
| BRD_VSERVO_MIN |
0 |
|
|
|
FALSE |
| BTN_ENABLE |
0 |
|
0:Disabled
1:Enabled |
This
enables the button checking module. When this is disabled the parameters for
setting button inputs are not visible |
FALSE |
| CAM_AUTO_ONLY |
0 |
|
0:Always
1:Only when in AUTO |
When
enabled, trigging by distance is done in AUTO mode only. |
FALSE |
| CAM_DURATION |
10 |
ds |
0
50 |
How
long the shutter will be held open in 10ths of a second (i.e. enter 10 for
1second, 50 for 5seconds) |
FALSE |
| CAM_FEEDBACK_PIN |
-1 |
|
-1:Disabled
50:PX4 AUX1 51:PX4 AUX2 52:PX4 AUX3 53:PX4 AUX4(fast capture) 54:PX4 AUX5
55:PX4 AUX6 |
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. |
FALSE |
| CAM_FEEDBACK_POL |
1 |
|
0:TriggerLow
1:TriggerHigh |
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 |
FALSE |
| CAM_MAX_ROLL |
0 |
deg |
0
180 |
Postpone
shooting if roll is greater than limit. (0=Disable, will shoot regardless of
roll). |
FALSE |
| CAM_MIN_INTERVAL |
0 |
ms |
0
10000 |
Postpone
shooting if previous picture was taken less than preset time(ms) ago. |
FALSE |
| CAM_RELAY_ON |
1 |
|
0:Low
1:High |
This
sets whether the relay goes high or low when it triggers. Note that you
should also set RELAY_DEFAULT appropriately for your camera |
FALSE |
| CAM_SERVO_OFF |
1100 |
PWM |
1000
2000 |
PWM
value in microseconds to move servo to when shutter is deactivated |
FALSE |
| CAM_SERVO_ON |
1300 |
PWM |
1000
2000 |
PWM
value in microseconds to move servo to when shutter is activated |
FALSE |
| CAM_TRIGG_DIST |
0 |
m |
0
1000 |
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. |
FALSE |
| CAM_TRIGG_TYPE |
0 |
|
0:Servo
1:Relay |
how
to trigger the camera to take a picture |
FALSE |
| CAM_TYPE |
0 |
|
|
|
FALSE |
| CHUTE_ENABLED |
0 |
|
0:Disabled
1:Enabled |
Parachute
release enabled or disabled |
FALSE |
| CIRCLE_RADIUS |
1000 |
cm |
0
10000 |
Defines
the radius of the circle the vehicle will fly when in Circle flight mode |
FALSE |
| CIRCLE_RATE |
20 |
deg/s |
-90
90 |
Circle
mode's turn rate in deg/sec. Positive to turn clockwise, negative for
counter clockwise |
FALSE |
| COMPASS_AUTO_ROT |
2 |
|
0:Disabled
1:CheckOnly 2:CheckAndFix |
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. |
FALSE |
| COMPASS_AUTODEC |
1 |
|
0:Disabled
1:Enabled |
Enable
or disable the automatic calculation of the declination based on gps location |
FALSE |
| COMPASS_CAL_FIT |
16 |
|
4
324:Very Strict 8:Strict 16:Default 32:Relaxed |
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. |
FALSE |
| COMPASS_DEC |
-0.128717 |
rad |
-3.142
3.142 |
An
angle to compensate between the true north and magnetic north |
FALSE |
| COMPASS_DEV_ID |
983044 |
|
|
Compass
device id. Automatically detected, do not set manually |
FALSE |
| COMPASS_DEV_ID2 |
983052 |
|
|
Second
compass's device id. Automatically detected, do not set manually |
FALSE |
| COMPASS_DEV_ID3 |
983060 |
|
|
Third
compass's device id. Automatically detected, do not set manually |
FALSE |
| COMPASS_DIA_X |
1 |
|
|
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]] |
FALSE |
| COMPASS_DIA_Y |
1 |
|
|
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]] |
FALSE |
| COMPASS_DIA_Z |
1 |
|
|
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]] |
FALSE |
| COMPASS_DIA2_X |
1 |
|
|
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]] |
FALSE |
| COMPASS_DIA2_Y |
1 |
|
|
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]] |
FALSE |
| COMPASS_DIA2_Z |
1 |
|
|
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]] |
FALSE |
| COMPASS_DIA3_X |
1 |
|
|
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]] |
FALSE |
| COMPASS_DIA3_Y |
1 |
|
|
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]] |
FALSE |
| COMPASS_DIA3_Z |
1 |
|
|
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]] |
FALSE |
| COMPASS_ENABLE |
1 |
|
|
|
FALSE |
| COMPASS_EXP_DID |
-1 |
|
|
|
FALSE |
| COMPASS_EXP_DID2 |
-1 |
|
|
|
FALSE |
| COMPASS_EXP_DID3 |
-1 |
|
|
|
FALSE |
| COMPASS_EXTERN2 |
0 |
|
0:Internal
1:External 2:ForcedExternal |
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. |
FALSE |
| COMPASS_EXTERN3 |
0 |
|
0:Internal
1:External 2:ForcedExternal |
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. |
FALSE |
| COMPASS_EXTERNAL |
1 |
|
0:Internal
1:External 2:ForcedExternal |
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. |
FALSE |
| COMPASS_FLTR_RNG |
0 |
% |
0
100 |
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. |
FALSE |
| COMPASS_LEARN |
0 |
|
0:Disabled
1:Internal-Learning 2:EKF-Learning |
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. |
FALSE |
| COMPASS_MOT_X |
0 |
mGauss/A |
-1000
1000 |
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) |
FALSE |
| COMPASS_MOT_Y |
0 |
mGauss/A |
-1000
1000 |
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) |
FALSE |
| COMPASS_MOT_Z |
0 |
mGauss/A |
-1000
1000 |
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) |
FALSE |
| COMPASS_MOT2_X |
0 |
mGauss/A |
-1000
1000 |
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) |
FALSE |
| COMPASS_MOT2_Y |
0 |
mGauss/A |
-1000
1000 |
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) |
FALSE |
| COMPASS_MOT2_Z |
0 |
mGauss/A |
-1000
1000 |
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) |
FALSE |
| COMPASS_MOT3_X |
0 |
mGauss/A |
-1000
1000 |
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) |
FALSE |
| COMPASS_MOT3_Y |
0 |
mGauss/A |
-1000
1000 |
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) |
FALSE |
| COMPASS_MOT3_Z |
0 |
mGauss/A |
-1000
1000 |
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) |
FALSE |
| COMPASS_MOTCT |
0 |
|
0:Disabled
1:Use Throttle 2:Use Current |
Set
motor interference compensation type to disabled, throttle or current.
Do not change manually. |
FALSE |
| COMPASS_ODI_X |
0 |
|
|
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]] |
FALSE |
| COMPASS_ODI_Y |
0 |
|
|
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]] |
FALSE |
| COMPASS_ODI_Z |
0 |
|
|
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]] |
FALSE |
| COMPASS_ODI2_X |
0 |
|
|
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]] |
FALSE |
| COMPASS_ODI2_Y |
0 |
|
|
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]] |
FALSE |
| COMPASS_ODI2_Z |
0 |
|
|
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]] |
FALSE |
| COMPASS_ODI3_X |
0 |
|
|
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]] |
FALSE |
| COMPASS_ODI3_Y |
0 |
|
|
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]] |
FALSE |
| COMPASS_ODI3_Z |
0 |
|
|
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]] |
FALSE |
| COMPASS_OFFS_MAX |
1800 |
|
500
3000 |
This
sets the maximum allowed compass offset in calibration and arming checks |
FALSE |
| COMPASS_OFS_X |
5 |
mGauss |
-400
400 |
Offset
to be added to the compass x-axis values to compensate for metal in the frame |
FALSE |
| COMPASS_OFS_Y |
13 |
mGauss |
-400
400 |
Offset
to be added to the compass y-axis values to compensate for metal in the frame |
FALSE |
| COMPASS_OFS_Z |
-18 |
mGauss |
-400
400 |
Offset
to be added to the compass z-axis values to compensate for metal in the frame |
FALSE |
| COMPASS_OFS2_X |
5 |
mGauss |
-400
400 |
Offset
to be added to compass2's x-axis values to compensate for metal in the frame |
FALSE |
| COMPASS_OFS2_Y |
13 |
mGauss |
-400
400 |
Offset
to be added to compass2's y-axis values to compensate for metal in the frame |
FALSE |
| COMPASS_OFS2_Z |
-18 |
mGauss |
-400
400 |
Offset
to be added to compass2's z-axis values to compensate for metal in the frame |
FALSE |
| COMPASS_OFS3_X |
5 |
mGauss |
-400
400 |
Offset
to be added to compass3's x-axis values to compensate for metal in the frame |
FALSE |
| COMPASS_OFS3_Y |
13 |
mGauss |
-400
400 |
Offset
to be added to compass3's y-axis values to compensate for metal in the frame |
FALSE |
| COMPASS_OFS3_Z |
-18 |
mGauss |
-400
400 |
Offset
to be added to compass3's z-axis values to compensate for metal in the frame |
FALSE |
| COMPASS_ORIENT |
0 |
|
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 |
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. |
FALSE |
| COMPASS_ORIENT2 |
0 |
|
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 |
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. |
FALSE |
| COMPASS_ORIENT3 |
0 |
|
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 |
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. |
FALSE |
| COMPASS_PMOT_EN |
0 |
|
0:Disabled
1:Enabled |
This
enables per-motor compass corrections |
FALSE |
| COMPASS_PRIMARY |
0 |
|
0:FirstCompass
1:SecondCompass 2:ThirdCompass |
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. |
FALSE |
| COMPASS_TYPEMASK |
0 |
|
|
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 |
FALSE |
| COMPASS_USE |
1 |
|
0:Disabled
1:Enabled |
Enable
or disable the use of the compass (instead of the GPS) for determining
heading |
FALSE |
| COMPASS_USE2 |
1 |
|
0:Disabled
1:Enabled |
Enable
or disable the second compass for determining heading. |
FALSE |
| COMPASS_USE3 |
1 |
|
0:Disabled
1:Enabled |
Enable
or disable the third compass for determining heading. |
FALSE |
| DEV_OPTIONS |
0 |
|
|
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 |
FALSE |
| DISARM_DELAY |
15 |
s |
0
127 |
Delay
before automatic disarm in seconds. A value of zero disables auto disarm. |
FALSE |
| EK2_ABIAS_P_NSE |
0.005 |
m/s/s/s |
0.00001
0.001 |
This
noise controls the growth of the vertical accelerometer delta velocity bias
state error estimate. Increasing it makes accelerometer bias estimation
faster and noisier. |
FALSE |
| EK2_ACC_P_NSE |
0.6 |
m/s/s |
0.01
1.0 |
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. |
FALSE |
| EK2_ALT_M_NSE |
3 |
m |
0.1
10.0 |
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. |
FALSE |
| EK2_ALT_SOURCE |
0 |
|
0:Use
Baro 1:Use Range Finder 2:Use GPS 3:Use Range Beacon |
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. |
FALSE |
| EK2_BCN_DELAY |
50 |
ms |
0
127 |
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. |
FALSE |
| EK2_BCN_I_GTE |
500 |
|
100
1000 |
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. |
FALSE |
| EK2_BCN_M_NSE |
1 |
m |
0.1
10.0 |
This
is the RMS value of noise in the range beacon measurement. Increasing it
reduces the weighting on this measurement. |
FALSE |
| EK2_CHECK_SCALE |
100 |
% |
50
200 |
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. |
FALSE |
| EK2_EAS_I_GATE |
400 |
|
100
1000 |
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. |
FALSE |
| EK2_EAS_M_NSE |
1.4 |
m/s |
0.5
5.0 |
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. |
FALSE |
| EK2_ENABLE |
1 |
|
0:Disabled
1:Enabled |
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. |
FALSE |
| EK2_EXTNAV_DELAY |
10 |
|
|
|
FALSE |
| EK2_FLOW_DELAY |
10 |
ms |
0
127 |
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. |
FALSE |
| EK2_FLOW_I_GATE |
300 |
|
100
1000 |
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. |
FALSE |
| EK2_FLOW_M_NSE |
0.25 |
rad/s |
0.05
1.0 |
This
is the RMS value of noise and errors in optical flow measurements. Increasing
it reduces the weighting on these measurements. |
FALSE |
| EK2_FLOW_USE |
1 |
|
|
|
FALSE |
| EK2_GBIAS_P_NSE |
0.0001 |
rad/s/s |
0.00001
0.001 |
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. |
FALSE |
| EK2_GLITCH_RAD |
25 |
m |
10
100 |
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. |
FALSE |
| EK2_GPS_CHECK |
31 |
|
|
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. |
FALSE |
| EK2_GPS_TYPE |
0 |
|
0:GPS
3D Vel and 2D Pos 1:GPS 2D vel and 2D pos 2:GPS 2D pos 3:No
GPS |
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. |
FALSE |
| EK2_GSCL_P_NSE |
0.0005 |
Hz |
0.000001
0.001 |
This
noise controls the rate of gyro scale factor learning. Increasing it makes
rate gyro scale factor estimation faster and noisier. |
FALSE |
| EK2_GYRO_P_NSE |
0.03 |
rad/s |
0.0001
0.1 |
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. |
FALSE |
| EK2_HGT_DELAY |
60 |
ms |
0
250 |
This
is the number of msec that the Height measurements lag behind the inertial
measurements. |
FALSE |
| EK2_HGT_I_GATE |
500 |
|
100
1000 |
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. |
FALSE |
| EK2_IMU_MASK |
3 |
|
|
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. |
FALSE |
| EK2_LOG_MASK |
1 |
|
|
This
sets the IMU mask of sensors to do full logging for |
FALSE |
| EK2_MAG_CAL |
3 |
|
0:When
flying 1:When manoeuvring 2:Never 3:After first climb yaw reset 4:Always |
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. |
FALSE |
| EK2_MAG_EF_LIM |
50 |
|
|
|
FALSE |
| EK2_MAG_I_GATE |
300 |
|
100
1000 |
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. |
FALSE |
| EK2_MAG_M_NSE |
0.05 |
Gauss |
0.01
0.5 |
This
is the RMS value of noise in magnetometer measurements. Increasing it reduces
the weighting on these measurements. |
FALSE |
| EK2_MAG_MASK |
0 |
|
|
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. |
FALSE |
| EK2_MAGB_P_NSE |
0.0001 |
Gauss/s |
0.00001
0.01 |
This
state process noise controls the growth of body magnetic field state error
estimates. Increasing it makes magnetometer bias error estimation faster and
noisier. |
FALSE |
| EK2_MAGE_P_NSE |
0.001 |
Gauss/s |
0.00001
0.01 |
This
state process noise controls the growth of earth magnetic field state error
estimates. Increasing it makes earth magnetic field estimation faster and
noisier. |
FALSE |
| EK2_MAX_FLOW |
2.5 |
rad/s |
1.0
4.0 |
This
sets the magnitude maximum optical flow rate in rad/sec that will be accepted
by the filter |
FALSE |
| EK2_NOAID_M_NSE |
10 |
m |
0.5
50.0 |
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. |
FALSE |
| EK2_OGN_HGT_MASK |
0 |
|
|
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). |
FALSE |
| EK2_POS_I_GATE |
500 |
|
100
1000 |
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. |
FALSE |
| EK2_POSNE_M_NSE |
1 |
m |
0.1
10.0 |
This
sets the GPS horizontal position observation noise. Increasing it reduces the
weighting of GPS horizontal position measurements. |
FALSE |
| EK2_RNG_I_GATE |
500 |
|
100
1000 |
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. |
FALSE |
| EK2_RNG_M_NSE |
0.5 |
m |
0.1
10.0 |
This
is the RMS value of noise in the range finder measurement. Increasing it
reduces the weighting on this measurement. |
FALSE |
| EK2_RNG_USE_HGT |
-1 |
% |
-1
70 |
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. |
FALSE |
| EK2_RNG_USE_SPD |
2 |
m/s |
2.0
6.0 |
The
range finder will not be used as the primary height source when the
horizontal ground speed is greater than this value. |
FALSE |
| EK2_TAU_OUTPUT |
25 |
cs |
10
50 |
Sets
the time constant of the output complementary filter/predictor in
centi-seconds. |
FALSE |
| EK2_TERR_GRAD |
0.1 |
|
0
0.2 |
Specifies
the maximum gradient of the terrain below the vehicle when it is using range
finder as a height reference |
FALSE |
| EK2_VEL_I_GATE |
500 |
|
100
1000 |
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. |
FALSE |
| EK2_VELD_M_NSE |
0.7 |
m/s |
0.05
5.0 |
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. |
FALSE |
| EK2_VELNE_M_NSE |
0.5 |
m/s |
0.05
5.0 |
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. |
FALSE |
| EK2_WIND_P_NSE |
0.1 |
m/s/s |
0.01
1.0 |
This
state process noise controls the growth of wind state error estimates.
Increasing it makes wind estimation faster and noisier. |
FALSE |
| EK2_WIND_PSCALE |
0.5 |
|
0.0
1.0 |
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. |
FALSE |
| EK2_YAW_I_GATE |
300 |
|
100
1000 |
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. |
FALSE |
| EK2_YAW_M_NSE |
0.5 |
rad |
0.05
1.0 |
This
is the RMS value of noise in yaw measurements from the magnetometer.
Increasing it reduces the weighting on these measurements. |
FALSE |
| EK3_ENABLE |
0 |
|
0:Disabled
1:Enabled |
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. |
FALSE |
| ESC_CALIBRATION |
0 |
|
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 |
Controls
whether ArduCopter will enter ESC calibration on the next restart. Do
not adjust this parameter manually. |
FALSE |
| FENCE_ACTION |
1 |
|
0:Report
Only 1:RTL or Land 2:Always land |
What
action should be taken when fence is breached |
FALSE |
| FENCE_ALT_MAX |
50 |
m |
10
1000 |
Maximum
altitude allowed before geofence triggers |
FALSE |
| FENCE_ENABLE |
0 |
|
0:Disabled
1:Enabled |
Allows
you to enable (1) or disable (0) the fence functionality |
FALSE |
| FENCE_MARGIN |
2 |
m |
1
10 |
Distance
that autopilot's should maintain from the fence to avoid a breach |
FALSE |
| FENCE_RADIUS |
30 |
m |
30
10000 |
Circle
fence radius which when breached will cause an RTL |
FALSE |
| FENCE_TOTAL |
8 |
|
1
20 |
Number
of polygon points saved in eeprom (do not update manually) |
FALSE |
| FENCE_TYPE |
4 |
|
0:None
1:Altitude 2:Circle 3:Altitude and Circle 4:Polygon 5:Altitude and Polygon
6:Circle and Polygon 7:All |
Enabled
fence types held as bitmask |
FALSE |
| FHLD_BRAKE_RATE |
8 |
deg/s |
1
30 |
Controls
deceleration rate on stick release |
FALSE |
| FHLD_FILT_HZ |
5 |
Hz |
1
100 |
Filter
frequency for flow data |
FALSE |
| FHLD_FLOW_MAX |
0.6 |
|
0.1
2.5 |
Controls
maximum apparent flow rate in flowhold |
FALSE |
| FHLD_QUAL_MIN |
10 |
|
0
255 |
Minimum
flow quality to use flow position hold |
FALSE |
| FHLD_XY_FILT_HZ |
5 |
|
|
|
FALSE |
| FHLD_XY_I |
0.3 |
|
0.02
1.00 |
FlowHold
(horizontal) I gain |
FALSE |
| FHLD_XY_IMAX |
3000 |
cdeg |
0
4500 |
FlowHold
(horizontal) integrator maximum |
FALSE |
| FHLD_XY_P |
0.2 |
|
0.1
6.0 |
FlowHold
(horizontal) P gain. |
FALSE |
| FLOW_ADDR |
0 |
|
0
127 |
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. |
FALSE |
| FLOW_FXSCALER |
0 |
|
0 |
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. |
FALSE |
| FLOW_FYSCALER |
0 |
|
0 |
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. |
FALSE |
| FLOW_ORIENT_YAW |
0 |
|
0 |
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. |
FALSE |
| FLOW_POS_X |
0 |
m |
|
X
position of the optical flow sensor focal point in body frame. Positive X is
forward of the origin. |
FALSE |
| FLOW_POS_Y |
0 |
m |
|
Y
position of the optical flow sensor focal point in body frame. Positive Y is
to the right of the origin. |
FALSE |
| FLOW_POS_Z |
0 |
m |
|
Z
position of the optical flow sensor focal point in body frame. Positive Z is
down from the origin. |
FALSE |
| FLOW_TYPE |
0 |
|
|
|
FALSE |
| FLTMODE_CH |
5 |
|
0:Disabled
5:Channel5 6:Channel6 7:Channel7 8:Channel8 |
RC
Channel to use for flight mode control |
FALSE |
| FLTMODE1 |
7 |
|
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 when Channel 5 pwm is <= 1230 |
FALSE |
| FLTMODE2 |
9 |
|
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 when Channel 5 pwm is >1230, <= 1360 |
FALSE |
| FLTMODE3 |
6 |
|
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 when Channel 5 pwm is >1360, <= 1490 |
FALSE |
| FLTMODE4 |
3 |
|
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 when Channel 5 pwm is >1490, <= 1620 |
FALSE |
| FLTMODE5 |
5 |
|
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 when Channel 5 pwm is >1620, <= 1749 |
FALSE |
| FLTMODE6 |
0 |
|
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 when Channel 5 pwm is >=1750 |
FALSE |
| FOLL_ENABLE |
0 |
|
0:Disabled
1:Enabled |
Enabled/disable
following a target |
FALSE |
| FRAME_CLASS |
1 |
|
0:Undefined
1:Quad 2:Hexa 3:Octa 4:OctaQuad 5:Y6
6:Heli 7:Tri 8:SingleCopter 9:CoaxCopter
11:Heli_Dual 12:DodecaHexa 13:HeliQuad |
Controls
major frame class for multicopter component |
FALSE |
| FRAME_TYPE |
1 |
|
0:Plus
1:X 2:V 3:H 4:V-Tail 5:A-Tail 10:Y6B |
Controls
motor mixing for multicopters. Not used for Tri or Traditional
Helicopters. |
FALSE |
| FS_CRASH_CHECK |
1 |
|
0:Disabled
1:Enabled |
This
enables automatic crash checking. When enabled the motors will disarm if a
crash is detected. |
FALSE |
| FS_EKF_ACTION |
1 |
|
1:Land
2:AltHold 3:Land even in Stabilize |
Controls
the action that will be taken when an EKF failsafe is invoked |
FALSE |
| FS_EKF_THRESH |
0.8 |
|
0.6:Strict
0.8:Default 1.0:Relaxed |
Allows
setting the maximum acceptable compass and velocity variance |
FALSE |
| FS_GCS_ENABLE |
1 |
|
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 |
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. |
FALSE |
| FS_THR_ENABLE |
2 |
|
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 |
The
throttle failsafe allows you to configure a software failsafe activated by a
setting on the throttle input channel |
FALSE |
| FS_THR_VALUE |
975 |
PWM |
925
1100 |
The
PWM level in microseconds on channel 3 below which throttle failsafe triggers |
FALSE |
| GCS_PID_MASK |
0 |
|
0:None
1:Roll 2:Pitch 4:Yaw |
bitmask
of PIDs to send MAVLink PID_TUNING messages for |
FALSE |
| GND_ABS_PRESS |
101208.3 |
Pa |
|
calibrated
ground pressure in Pascals |
FALSE |
| GND_ABS_PRESS2 |
0 |
Pa |
|
calibrated
ground pressure in Pascals |
FALSE |
| GND_ABS_PRESS3 |
0 |
Pa |
|
calibrated
ground pressure in Pascals |
FALSE |
| GND_ALT_OFFSET |
0 |
m |
|
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. |
FALSE |
| GND_EFFECT_COMP |
1 |
|
0:Disabled
1:Enabled |
Ground
Effect Compensation Enable/Disable |
FALSE |
| GND_EXT_BUS |
-1 |
|
-1:Disabled
0:Bus0 1:Bus1 |
This
selects the bus number for looking for an I2C barometer |
FALSE |
| GND_FLTR_RNG |
0 |
% |
0
100 |
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. |
FALSE |
| GND_PRIMARY |
0 |
|
0:FirstBaro
1:2ndBaro 2:3rdBaro |
This
selects which barometer will be the primary if multiple barometers are found |
FALSE |
| GND_PROBE_EXT |
0 |
|
|
|
FALSE |
| GND_TEMP |
0 |
degC |
|
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. |
FALSE |
| GPS_AUTO_CONFIG |
1 |
|
0:Disables
automatic configuration 1:Enable automatic configuration |
Controls
if the autopilot should automatically configure the GPS based on the
parameters and default settings |
FALSE |
| GPS_AUTO_SWITCH |
1 |
|
0:Disabled
1:UseBest 2:Blend |
Automatic
switchover to GPS reporting best lock |
FALSE |
| GPS_BLEND_MASK |
5 |
|
|
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 |
FALSE |
| GPS_BLEND_TC |
10 |
s |
5.0
30.0 |
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. |
FALSE |
| GPS_DELAY_MS |
0 |
ms |
0
250 |
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. |
FALSE |
| GPS_DELAY_MS2 |
0 |
ms |
0
250 |
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. |
FALSE |
| GPS_GNSS_MODE |
0 |
|
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 |
Bitmask
for what GNSS system to use on the first GPS (all unchecked or zero to leave
GPS as configured) |
FALSE |
| GPS_GNSS_MODE2 |
0 |
|
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 |
Bitmask
for what GNSS system to use on the second GPS (all unchecked or zero to leave
GPS as configured) |
FALSE |
| GPS_HDOP_GOOD |
140 |
|
100
900 |
GPS
Hdop value at or below this value represent a good position. Used for
pre-arm checks |
FALSE |
| GPS_INJECT_TO |
127 |
|
0:send
to first GPS 1:send to 2nd GPS 127:send to all |
The
GGS can send raw serial packets to inject data to multiple GPSes. |
FALSE |
| GPS_MIN_DGPS |
100 |
|
0:Any
50:FloatRTK 100:IntegerRTK |
Sets
the minimum type of differential GPS corrections required before allowing to
switch into DGPS mode. |
FALSE |
| GPS_MIN_ELEV |
-100 |
deg |
-100
90 |
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. |
FALSE |
| GPS_NAVFILTER |
8 |
|
0:Portable
2:Stationary 3:Pedestrian 4:Automotive 5:Sea 6:Airborne1G 7:Airborne2G
8:Airborne4G |
Navigation
filter engine setting |
FALSE |
| GPS_POS1_X |
0 |
m |
|
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. |
FALSE |
| GPS_POS1_Y |
0 |
m |
|
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. |
FALSE |
| GPS_POS1_Z |
0 |
m |
|
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. |
FALSE |
| GPS_POS2_X |
0 |
m |
|
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. |
FALSE |
| GPS_POS2_Y |
0 |
m |
|
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. |
FALSE |
| GPS_POS2_Z |
0 |
m |
|
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. |
FALSE |
| GPS_RATE_MS |
200 |
ms |
50
200100:10Hz 125:8Hz 200:5Hz |
Controls
how often the GPS should provide a position update. Lowering below 5Hz is not
allowed |
FALSE |
| GPS_RATE_MS2 |
200 |
ms |
50
200100:10Hz 125:8Hz 200:5Hz |
Controls
how often the GPS should provide a position update. Lowering below 5Hz is not
allowed |
FALSE |
| GPS_RAW_DATA |
0 |
|
0:Ignore
1:Always log 2:Stop logging when disarmed (SBF only) 5:Only log every five
samples (uBlox only) |
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 |
FALSE |
| GPS_SAVE_CFG |
2 |
|
0:Do
not save config 1:Save config 2:Save only when needed |
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. |
FALSE |
| GPS_SBAS_MODE |
2 |
|
0:Disabled
1:Enabled 2:NoChange |
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. |
FALSE |
| GPS_SBP_LOGMASK |
-256 |
|
0:None
(0x0000) -1:All (0xFFFF) -256:External only (0xFF00) |
Masked
with the SBP msg_type field to determine whether SBR1/SBR2 data is logged |
FALSE |
| GPS_TYPE |
1 |
|
0:None
1:AUTO 2:uBlox 3:MTK 4:MTK19 5:NMEA 6:SiRF 7:HIL 8:SwiftNav 9:UAVCAN 10:SBF
11:GSOF 13:ERB 14:MAV 15:NOVA |
GPS
type |
FALSE |
| GPS_TYPE2 |
0 |
|
0:None
1:AUTO 2:uBlox 3:MTK 4:MTK19 5:NMEA 6:SiRF 7:HIL 8:SwiftNav 9:UAVCAN 10:SBF
11:GSOF 13:ERB 14:MAV 15:NOVA |
GPS
type of 2nd GPS |
FALSE |
| GRIP_ENABLE |
0 |
|
0:Disabled
1:Enabled |
Gripper
enable/disable |
FALSE |
| INS_ACC_BODYFIX |
2 |
|
1:IMU
1 2:IMU 2 3:IMU 3 |
The
body-fixed accelerometer to be used for trim calculation |
FALSE |
| INS_ACC_ID |
2753028 |
|
|
Accelerometer
sensor ID, taking into account its type, bus and instance |
FALSE |
| INS_ACC2_ID |
2753036 |
|
|
Accelerometer2
sensor ID, taking into account its type, bus and instance |
FALSE |
| INS_ACC2OFFS_X |
0.001 |
m/s/s |
-3.5
3.5 |
Accelerometer2
offsets of X axis. This is setup using the acceleration calibration or level
operations |
FALSE |
| INS_ACC2OFFS_Y |
0.001 |
m/s/s |
-3.5
3.5 |
Accelerometer2
offsets of Y axis. This is setup using the acceleration calibration or level
operations |
FALSE |
| INS_ACC2OFFS_Z |
0.001 |
m/s/s |
-3.5
3.5 |
Accelerometer2
offsets of Z axis. This is setup using the acceleration calibration or level
operations |
FALSE |
| INS_ACC2SCAL_X |
1.001 |
|
0.8
1.2 |
Accelerometer2
scaling of X axis. Calculated during acceleration calibration routine |
FALSE |
| INS_ACC2SCAL_Y |
1.001 |
|
0.8
1.2 |
Accelerometer2
scaling of Y axis Calculated during acceleration calibration routine |
FALSE |
| INS_ACC2SCAL_Z |
1.001 |
|
0.8
1.2 |
Accelerometer2
scaling of Z axis Calculated during acceleration calibration routine |
FALSE |
| INS_ACC3_ID |
0 |
|
|
Accelerometer3
sensor ID, taking into account its type, bus and instance |
FALSE |
| INS_ACC3OFFS_X |
0 |
m/s/s |
-3.5
3.5 |
Accelerometer3
offsets of X axis. This is setup using the acceleration calibration or level
operations |
FALSE |
| INS_ACC3OFFS_Y |
0 |
m/s/s |
-3.5
3.5 |
Accelerometer3
offsets of Y axis. This is setup using the acceleration calibration or level
operations |
FALSE |
| INS_ACC3OFFS_Z |
0 |
m/s/s |
-3.5
3.5 |
Accelerometer3
offsets of Z axis. This is setup using the acceleration calibration or level
operations |
FALSE |
| INS_ACC3SCAL_X |
1 |
|
0.8
1.2 |
Accelerometer3
scaling of X axis. Calculated during acceleration calibration routine |
FALSE |
| INS_ACC3SCAL_Y |
1 |
|
0.8
1.2 |
Accelerometer3
scaling of Y axis Calculated during acceleration calibration routine |
FALSE |
| INS_ACC3SCAL_Z |
1 |
|
0.8
1.2 |
Accelerometer3
scaling of Z axis Calculated during acceleration calibration routine |
FALSE |
| INS_ACCEL_FILTER |
20 |
Hz |
0
127 |
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!) |
FALSE |
| INS_ACCOFFS_X |
0.001 |
m/s/s |
-3.5
3.5 |
Accelerometer
offsets of X axis. This is setup using the acceleration calibration or level
operations |
FALSE |
| INS_ACCOFFS_Y |
0.001 |
m/s/s |
-3.5
3.5 |
Accelerometer
offsets of Y axis. This is setup using the acceleration calibration or level
operations |
FALSE |
| INS_ACCOFFS_Z |
0.001 |
m/s/s |
-3.5
3.5 |
Accelerometer
offsets of Z axis. This is setup using the acceleration calibration or level
operations |
FALSE |
| INS_ACCSCAL_X |
1.001 |
|
0.8
1.2 |
Accelerometer
scaling of X axis. Calculated during acceleration calibration routine |
FALSE |
| INS_ACCSCAL_Y |
1.001 |
|
0.8
1.2 |
Accelerometer
scaling of Y axis Calculated during acceleration calibration routine |
FALSE |
| INS_ACCSCAL_Z |
1.001 |
|
0.8
1.2 |
Accelerometer
scaling of Z axis Calculated during acceleration calibration routine |
FALSE |
| INS_ENABLE_MASK |
127 |
|
|
|
FALSE |
| INS_FAST_SAMPLE |
0 |
|
1:FirstIMUOnly
3:FirstAndSecondIMU |
Mask
of IMUs to enable fast sampling on, if available |
FALSE |
| INS_GYR_CAL |
1 |
|
0:Never
1:Start-up only |
Conrols
when automatic gyro calibration is performed |
FALSE |
| INS_GYR_ID |
2752772 |
|
|
Gyro
sensor ID, taking into account its type, bus and instance |
FALSE |
| INS_GYR2_ID |
2752780 |
|
|
Gyro2
sensor ID, taking into account its type, bus and instance |
FALSE |
| INS_GYR2OFFS_X |
4.68E-05 |
rad/s |
|
Gyro2
sensor offsets of X axis. This is setup on each boot during gyro calibrations |
FALSE |
| INS_GYR2OFFS_Y |
5.46E-05 |
rad/s |
|
Gyro2
sensor offsets of Y axis. This is setup on each boot during gyro calibrations |
FALSE |
| INS_GYR2OFFS_Z |
4.62E-05 |
rad/s |
|
Gyro2
sensor offsets of Z axis. This is setup on each boot during gyro calibrations |
FALSE |
| INS_GYR3_ID |
0 |
|
|
Gyro3
sensor ID, taking into account its type, bus and instance |
FALSE |
| INS_GYR3OFFS_X |
0 |
rad/s |
|
Gyro3
sensor offsets of X axis. This is setup on each boot during gyro calibrations |
FALSE |
| INS_GYR3OFFS_Y |
0 |
rad/s |
|
Gyro3
sensor offsets of Y axis. This is setup on each boot during gyro calibrations |
FALSE |
| INS_GYR3OFFS_Z |
0 |
rad/s |
|
Gyro3
sensor offsets of Z axis. This is setup on each boot during gyro calibrations |
FALSE |
| INS_GYRO_FILTER |
20 |
Hz |
0
127 |
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!) |
FALSE |
| INS_GYROFFS_X |
4.10E-05 |
rad/s |
|
Gyro
sensor offsets of X axis. This is setup on each boot during gyro calibrations |
FALSE |
| INS_GYROFFS_Y |
2.74E-05 |
rad/s |
|
Gyro
sensor offsets of Y axis. This is setup on each boot during gyro calibrations |
FALSE |
| INS_GYROFFS_Z |
3.82E-05 |
rad/s |
|
Gyro
sensor offsets of Z axis. This is setup on each boot during gyro calibrations |
FALSE |
| INS_LOG_BAT_CNT |
1024 |
|
|
Number
of samples to take when logging streams of IMU sensor readings. Will be
rounded down to a multiple of 32. |
FALSE |
| INS_LOG_BAT_LGCT |
32 |
|
|
Number
of samples to push to count every @ |
FALSE |
| INS_LOG_BAT_LGIN |
20 |
ms |
|
Interval
between pushing samples to the DataFlash log |
FALSE |
| INS_LOG_BAT_MASK |
0 |
|
0:None
1:First IMU 255:All |
Bitmap
of which IMUs to log batch data for |
FALSE |
| INS_LOG_BAT_OPT |
0 |
|
|
Options
for the BatchSampler |
FALSE |
| INS_NOTCH_ENABLE |
0 |
|
0:Disabled
1:Enabled |
Enable
notch filter |
FALSE |
| INS_POS1_X |
0 |
m |
|
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. |
FALSE |
| INS_POS1_Y |
0 |
m |
|
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. |
FALSE |
| INS_POS1_Z |
0 |
m |
|
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. |
FALSE |
| INS_POS2_X |
0 |
m |
|
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. |
FALSE |
| INS_POS2_Y |
0 |
m |
|
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. |
FALSE |
| INS_POS2_Z |
0 |
m |
|
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. |
FALSE |
| INS_POS3_X |
0 |
m |
|
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. |
FALSE |
| INS_POS3_Y |
0 |
m |
|
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. |
FALSE |
| INS_POS3_Z |
0 |
m |
|
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. |
FALSE |
| INS_STILL_THRESH |
2.5 |
|
0.05
50 |
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 |
FALSE |
| INS_TRIM_OPTION |
1 |
|
0:Don't
adjust the trims 1:Assume first orientation was level 2:Assume ACC_BODYFIX is
perfectly aligned to the vehicle |
Specifies
how the accel cal routine determines the trims |
FALSE |
| INS_USE |
1 |
|
0:Disabled
1:Enabled |
Use
first IMU for attitude, velocity and position estimates |
FALSE |
| INS_USE2 |
1 |
|
0:Disabled
1:Enabled |
Use
second IMU for attitude, velocity and position estimates |
FALSE |
| INS_USE3 |
0 |
|
0:Disabled
1:Enabled |
Use
third IMU for attitude, velocity and position estimates |
FALSE |
| LAND_ALT_LOW |
1000 |
cm |
100
10000 |
Altitude
during Landing at which vehicle slows to LAND_SPEED |
FALSE |
| LAND_REPOSITION |
1 |
|
0:No
repositioning 1:Repositioning |
Enables
user input during LAND mode, the landing phase of RTL, and auto mode
landings. |
FALSE |
| LAND_SPEED |
50 |
cm/s |
30
200 |
The
descent speed for the final stage of landing in cm/s |
FALSE |
| LAND_SPEED_HIGH |
0 |
cm/s |
0
500 |
The
descent speed for the first stage of landing in cm/s. If this is zero then
WPNAV_SPEED_DN is used |
FALSE |
| LGR_DEPLOY_ALT |
0 |
|
|
|
FALSE |
| LGR_DEPLOY_PIN |
-1 |
|
|
|
FALSE |
| LGR_DEPLOY_POL |
0 |
|
|
|
FALSE |
| LGR_RETRACT_ALT |
0 |
|
|
|
FALSE |
| LGR_STARTUP |
0 |
|
0:WaitForPilotInput
1:Retract 2:Deploy |
Landing
Gear Startup behaviour control |
FALSE |
| LGR_WOW_PIN |
8 |
|
|
|
FALSE |
| LGR_WOW_POL |
1 |
|
|
|
FALSE |
| LOG_BACKEND_TYPE |
1 |
|
0:None
1:File 2:MAVLink 3:BothFileAndMAVLink |
0
for None, 1 for File, 2 for dataflash mavlink, 3 for both file and dataflash |
FALSE |
| LOG_BITMASK |
176126 |
|
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 |
4
byte bitmap of log types to enable |
FALSE |
| LOG_DISARMED |
0 |
|
0:Disabled
1:Enabled |
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 |
FALSE |
| LOG_FILE_BUFSIZE |
16 |
|
|
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. |
FALSE |
| LOG_FILE_DSRMROT |
0 |
|
0:Disabled
1:Enabled |
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. |
FALSE |
| LOG_MAV_BUFSIZE |
8 |
kB |
|
Maximum
amount of memory to allocate to DataFlash-over-mavlink |
FALSE |
| LOG_REPLAY |
0 |
|
0:Disabled
1:Enabled |
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 |
FALSE |
| LOIT_ACC_MAX |
500 |
cm/s/s |
100
981 |
Loiter
maximum correction acceleration in cm/s/s. Higher values cause the
copter to correct position errors more aggressively. |
FALSE |
| LOIT_ANG_MAX |
0 |
deg |
0
45 |
Loiter
maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX |
FALSE |
| LOIT_BRK_ACCEL |
250 |
cm/s/s |
25
250 |
Loiter
braking acceleration in cm/s/s. Higher values stop the copter more quickly
when the stick is centered. |
FALSE |
| LOIT_BRK_DELAY |
1 |
s |
0
2 |
Loiter
brake start delay (in seconds) |
FALSE |
| LOIT_BRK_JERK |
500 |
cm/s/s/s |
500
5000 |
Loiter
braking jerk in cm/s/s/s. Higher values will remove braking faster if the
pilot moves the sticks during a braking manuver. |
FALSE |
| LOIT_SPEED |
1250 |
cm/s |
20
2000 |
Defines
the maximum speed in cm/s which the aircraft will travel horizontally while
in loiter mode |
FALSE |
| MIS_OPTIONS |
0 |
|
|
Bitmask
of what options to use in missions. |
FALSE |
| MIS_RESTART |
0 |
|
0:Resume
Mission 1:Restart Mission |
Controls
mission starting point when entering Auto mode (either restart from beginning
of mission or resume from last command run) |
FALSE |
| MIS_TOTAL |
13 |
|
0
32766 |
The
number of mission mission items that has been loaded by the ground station.
Do not change this manually. |
FALSE |
| MNT_ANGMAX_PAN |
4500 |
cdeg |
-18000
17999 |
Maximum
physical pan (yaw) angular position of the mount |
FALSE |
| MNT_ANGMAX_ROL |
4500 |
cdeg |
-18000
17999 |
Maximum
physical roll angular position of the mount |
FALSE |
| MNT_ANGMAX_TIL |
4500 |
cdeg |
-18000
17999 |
Maximum
physical tilt (pitch) angular position of the mount |
FALSE |
| MNT_ANGMIN_PAN |
-4500 |
cdeg |
-18000
17999 |
Minimum
physical pan (yaw) angular position of mount. |
FALSE |
| MNT_ANGMIN_ROL |
-4500 |
cdeg |
-18000
17999 |
Minimum
physical roll angular position of mount. |
FALSE |
| MNT_ANGMIN_TIL |
-4500 |
cdeg |
-18000
17999 |
Minimum
physical tilt (pitch) angular position of mount. |
FALSE |
| MNT_DEFLT_MODE |
3 |
|
0:Retracted
1:Neutral 2:MavLink Targeting 3:RC Targeting 4:GPS Point |
Mount
default operating mode on startup and after control is returned from
autopilot |
FALSE |
| MNT_JSTICK_SPD |
0 |
|
0
100 |
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. |
FALSE |
| MNT_LEAD_PTCH |
0 |
s |
0.0
0.2 |
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. |
FALSE |
| MNT_LEAD_RLL |
0 |
s |
0.0
0.2 |
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. |
FALSE |
| MNT_NEUTRAL_X |
0 |
deg |
-180.00
179.99 |
Mount
roll angle when in neutral position |
FALSE |
| MNT_NEUTRAL_Y |
0 |
deg |
-180.00
179.99 |
Mount
tilt/pitch angle when in neutral position |
FALSE |
| MNT_NEUTRAL_Z |
0 |
deg |
-180.00
179.99 |
Mount
pan/yaw angle when in neutral position |
FALSE |
| MNT_RC_IN_PAN |
0 |
|
0:Disabled
5:RC5 6:RC6 7:RC7 8:RC8 9:RC9 10:RC10 11:RC11 12:RC12 |
0
for none, any other for the RC channel to be used to control pan (yaw)
movements |
FALSE |
| MNT_RC_IN_ROLL |
0 |
|
0:Disabled
5:RC5 6:RC6 7:RC7 8:RC8 9:RC9 10:RC10 11:RC11 12:RC12 |
0
for none, any other for the RC channel to be used to control roll movements |
FALSE |
| MNT_RC_IN_TILT |
0 |
|
0:Disabled
5:RC5 6:RC6 7:RC7 8:RC8 9:RC9 10:RC10 11:RC11 12:RC12 |
0
for none, any other for the RC channel to be used to control tilt (pitch)
movements |
FALSE |
| MNT_RETRACT_X |
0 |
deg |
-180.00
179.99 |
Mount
roll angle when in retracted position |
FALSE |
| MNT_RETRACT_Y |
0 |
deg |
-180.00
179.99 |
Mount
tilt/pitch angle when in retracted position |
FALSE |
| MNT_RETRACT_Z |
0 |
deg |
-180.00
179.99 |
Mount
yaw/pan angle when in retracted position |
FALSE |
| MNT_STAB_PAN |
0 |
|
0:Disabled
1:Enabled |
enable
pan/yaw stabilisation relative to Earth |
FALSE |
| MNT_STAB_ROLL |
0 |
|
0:Disabled
1:Enabled |
enable
roll stabilisation relative to Earth |
FALSE |
| MNT_STAB_TILT |
0 |
|
0:Disabled
1:Enabled |
enable
tilt/pitch stabilisation relative to Earth |
FALSE |
| MNT_TYPE |
0 |
|
0:None
1:Servo 2:3DR Solo 3:Alexmos Serial 4:SToRM32 MAVLink
5:SToRM32 Serial |
Mount
Type (None, Servo or MAVLink) |
FALSE |
| MOT_BAT_CURR_MAX |
0 |
A |
0
200 |
Maximum
current over which maximum throttle is limited (0 = Disabled) |
FALSE |
| MOT_BAT_CURR_TC |
5 |
s |
0
10 |
Time
constant used to limit the maximum current |
FALSE |
| MOT_BAT_IDX |
0 |
|
0:First
battery 1:Second battery |
Which
battery monitor should be used for doing compensation |
FALSE |
| MOT_BAT_VOLT_MAX |
0 |
V |
6
35 |
Battery
voltage compensation maximum voltage (voltage above this will have no
additional scaling effect on thrust). Recommend 4.4 * cell count, 0 =
Disabled |
FALSE |
| MOT_BAT_VOLT_MIN |
0 |
V |
6
35 |
Battery
voltage compensation minimum voltage (voltage below this will have no
additional scaling effect on thrust). Recommend 3.5 * cell count, 0 =
Disabled |
FALSE |
| MOT_BOOST_SCALE |
0 |
|
0
5 |
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. |
FALSE |
| MOT_HOVER_LEARN |
2 |
|
0:Disabled
1:Learn 2:LearnAndSave |
Enable/Disable
automatic learning of hover throttle |
FALSE |
| MOT_PWM_MAX |
0 |
PWM |
0
2000 |
This
sets the max PWM value in microseconds that will ever be output to the
motors, 0 = use input RC3_MAX |
FALSE |
| MOT_PWM_MIN |
0 |
PWM |
0
2000 |
This
sets the min PWM output value in microseconds that will ever be output to the
motors, 0 = use input RC3_MIN |
FALSE |
| MOT_PWM_TYPE |
0 |
|
0:Normal
1:OneShot 2:OneShot125 3:Brushed 4:DShot150 5:DShot300 6:DShot600 7:DShot1200 |
This
selects the output PWM type, allowing for normal PWM continuous output,
OneShot, brushed or DShot motor output |
FALSE |
| MOT_SAFE_DISARM |
0 |
|
0:PWM
enabled while disarmed 1:PWM disabled while disarmed |
Disables
motor PWM output when disarmed |
FALSE |
| MOT_SLEW_DN_TIME |
0 |
|
|
|
FALSE |
| MOT_SLEW_UP_TIME |
0 |
|
|
|
FALSE |
| MOT_SPIN_ARM |
0.1 |
|
0.0:Low
0.1:Default 0.2:High |
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. |
FALSE |
| MOT_SPIN_MAX |
0.95 |
|
0.9:Low
0.95:Default 1.0:High |
Point
at which the thrust saturates expressed as a number from 0 to 1 in the entire
output range |
FALSE |
| MOT_SPIN_MIN |
0.15 |
|
0.0:Low
0.15:Default 0.3:High |
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. |
FALSE |
| MOT_SPOOL_TIME |
0.5 |
s |
0
2 |
Time
in seconds to spool up the motors from zero to min throttle. |
FALSE |
| MOT_THST_EXPO |
0.5 |
|
0.25
0.8 |
Motor
thrust curve exponent (from 0 for linear to 1.0 for second order curve) |
FALSE |
| MOT_THST_HOVER |
0.3705518 |
|
0.2
0.8 |
Motor
thrust needed to hover expressed as a number from 0 to 1 |
FALSE |
| MOT_YAW_HEADROOM |
200 |
PWM |
0
500 |
Yaw
control is given at least this pwm in microseconds range |
FALSE |
| NTF_BUZZ_ENABLE |
1 |
|
0:Disable
1:Enable |
Enable
or disable the buzzer. Only for Linux and PX4 based boards. |
FALSE |
| NTF_BUZZ_ON_LVL |
1 |
|
|
|
FALSE |
| NTF_BUZZ_PIN |
0 |
|
0:Disabled |
Enables
to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or
additional MOSFET! |
FALSE |
| NTF_DISPLAY_TYPE |
0 |
|
0:Disable
1:ssd1306 2:sh1106 |
This
sets up the type of on-board I2C display. Disabled by default. |
FALSE |
| NTF_LED_BRIGHT |
3 |
|
0:Off
1:Low 2:Medium 3:High |
Select
the RGB LED brightness level. When USB is connected brightness will never be
higher than low regardless of the setting. |
FALSE |
| NTF_LED_OVERRIDE |
0 |
|
0:Disable
1:Enable |
This
sets up the board RGB LED for override by MAVLink. Normal notify LED control
is disabled |
FALSE |
| NTF_LED_TYPES |
199 |
|
|
Controls
what types of LEDs will be enabled |
FALSE |
| NTF_OREO_THEME |
0 |
|
0:Disabled
1:Aircraft 2:Rover |
Enable/Disable
Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme |
FALSE |
| PHLD_BRAKE_ANGLE |
3000 |
cdeg |
2000
4500 |
PosHold
flight mode's max lean angle during braking in centi-degrees |
FALSE |
| PHLD_BRAKE_RATE |
8 |
deg/s |
4
12 |
PosHold
flight mode's rotation rate during braking in deg/sec |
FALSE |
| PILOT_ACCEL_Z |
250 |
cm/s/s |
50
500 |
The
vertical acceleration used when pilot is controlling the altitude |
FALSE |
| PILOT_SPEED_DN |
0 |
cm/s |
50
500 |
The
maximum vertical descending velocity the pilot may request in cm/s |
FALSE |
| PILOT_SPEED_UP |
250 |
cm/s |
50
500 |
The
maximum vertical ascending velocity the pilot may request in cm/s |
FALSE |
| PILOT_THR_BHV |
0 |
|
0:None
1:Feedback from mid stick 2:High throttle cancels landing 4:Disarm on land
detection |
Bitmask
containing various throttle stick options. Add up the values for options that
you want. |
FALSE |
| PILOT_THR_FILT |
0 |
Hz |
0
10 |
Throttle
filter cutoff (Hz) - active whenever altitude control is inactive - 0 to
disable |
FALSE |
| PILOT_TKOFF_ALT |
0 |
cm |
0.0
1000.0 |
Altitude
that altitude control modes will climb to when a takeoff is triggered with
the throttle stick. |
FALSE |
| PLND_ENABLED |
0 |
|
0:Disabled
1:Enabled Always Land 2:Enabled Strict |
Precision
Land enabled/disabled and behaviour |
FALSE |
| PRX_IGN_ANG1 |
0 |
deg |
0
360 |
Proximity
sensor ignore angle 1 |
FALSE |
| PRX_IGN_ANG2 |
0 |
deg |
0
360 |
Proximity
sensor ignore angle 2 |
FALSE |
| PRX_IGN_ANG3 |
0 |
deg |
0
360 |
Proximity
sensor ignore angle 3 |
FALSE |
| PRX_IGN_ANG4 |
0 |
deg |
0
360 |
Proximity
sensor ignore angle 4 |
FALSE |
| PRX_IGN_ANG5 |
0 |
deg |
0
360 |
Proximity
sensor ignore angle 5 |
FALSE |
| PRX_IGN_ANG6 |
0 |
deg |
0
360 |
Proximity
sensor ignore angle 6 |
FALSE |
| PRX_IGN_WID1 |
0 |
deg |
0
45 |
Proximity
sensor ignore width 1 |
FALSE |
| PRX_IGN_WID2 |
0 |
deg |
0
45 |
Proximity
sensor ignore width 2 |
FALSE |
| PRX_IGN_WID3 |
0 |
deg |
0
45 |
Proximity
sensor ignore width 3 |
FALSE |
| PRX_IGN_WID4 |
0 |
deg |
0
45 |
Proximity
sensor ignore width 4 |
FALSE |
| PRX_IGN_WID5 |
0 |
deg |
0
45 |
Proximity
sensor ignore width 5 |
FALSE |
| PRX_IGN_WID6 |
0 |
deg |
0
45 |
Proximity
sensor ignore width 6 |
FALSE |
| PRX_ORIENT |
0 |
|
0:Default
1:Upside Down |
Proximity
sensor orientation |
FALSE |
| PRX_TYPE |
0 |
|
0:None
1:LightWareSF40C 2:MAVLink 3:TeraRangerTower 4:RangeFinder 5:RPLidarA2
6:TeraRangerTowerEvo |
What
type of proximity sensor is connected |
FALSE |
| PRX_YAW_CORR |
0 |
deg |
-180
180 |
Proximity
sensor yaw correction |
FALSE |
| PSC_ACC_XY_FILT |
2 |
Hz |
0.5
5 |
Lower
values will slow the response of the navigation controller and reduce
twitchiness |
FALSE |
| PSC_ACCZ_D |
0 |
|
0.000
0.400 |
Acceleration
(vertical) controller D gain. Compensates for short-term change in
desired vertical acceleration vs actual acceleration |
FALSE |
| PSC_ACCZ_FF |
0 |
|
|
|
FALSE |
| PSC_ACCZ_FILT |
20 |
Hz |
1.000
100.000 |
Filter
applied to acceleration to reduce noise. Lower values reduce noise but
add delay. |
FALSE |
| PSC_ACCZ_I |
1 |
|
0.000
3.000 |
Acceleration
(vertical) controller I gain. Corrects long-term difference in desired
vertical acceleration and actual acceleration |
FALSE |
| PSC_ACCZ_IMAX |
800 |
d% |
0
1000 |
Acceleration
(vertical) controller I gain maximum. Constrains the maximum pwm that
the I term will generate |
FALSE |
| PSC_ACCZ_P |
0.5 |
|
0.500
1.500 |
Acceleration
(vertical) controller P gain. Converts the difference between desired
vertical acceleration and actual acceleration into a motor output |
FALSE |
| PSC_ANGLE_MAX |
0 |
deg |
0
45 |
Maximum
lean angle autopilot can request. Set to zero to use ANGLE_MAX
parameter value |
FALSE |
| PSC_POSXY_P |
1 |
|
0.500
2.000 |
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 |
FALSE |
| PSC_POSZ_P |
1 |
|
1.000
3.000 |
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 |
FALSE |
| PSC_VELXY_D |
0.5 |
|
0.00
1.00 |
Velocity
(horizontal) D gain. Corrects short-term changes in velocity |
FALSE |
| PSC_VELXY_D_FILT |
5 |
Hz |
0
100 |
Velocity
(horizontal) input filter. This filter (in hz) is applied to the input
for P and I terms |
FALSE |
| PSC_VELXY_FILT |
5 |
Hz |
0
100 |
Velocity
(horizontal) input filter. This filter (in hz) is applied to the input
for P and I terms |
FALSE |
| PSC_VELXY_I |
1 |
|
0.02
1.00 |
Velocity
(horizontal) I gain. Corrects long-term difference in desired velocity
to a target acceleration |
FALSE |
| PSC_VELXY_IMAX |
1000 |
cm/s/s |
0
4500 |
Velocity
(horizontal) integrator maximum. Constrains the target acceleration
that the I gain will output |
FALSE |
| PSC_VELXY_P |
2 |
|
0.1
6.0 |
Velocity
(horizontal) P gain. Converts the difference between desired velocity
to a target acceleration |
FALSE |
| PSC_VELZ_P |
5 |
|
1.000
8.000 |
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 |
FALSE |
| RALLY_INCL_HOME |
1 |
|
0:DoNotIncludeHome
1:IncludeHome |
Controls
if Home is included as a Rally point (i.e. as a safe landing place) for RTL |
FALSE |
| RALLY_LIMIT_KM |
0.3 |
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. |
FALSE |
| RALLY_TOTAL |
0 |
|
|
Number
of rally points currently loaded |
FALSE |
| RC_OPTIONS |
0 |
|
|
|
FALSE |
| RC_OVERRIDE_TIME |
3 |
s |
0.0
120.0 |
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 |
FALSE |
| RC_SPEED |
490 |
Hz |
50
490 |
This
is the speed in Hertz that your ESCs will receive updates |
FALSE |
| RC1_DZ |
20 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC1_MAX |
2000 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC1_MIN |
1000 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC1_OPTION |
0 |
|
|
|
FALSE |
| RC1_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC1_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC10_DZ |
0 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC10_MAX |
1900 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC10_MIN |
1100 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC10_OPTION |
0 |
|
|
|
FALSE |
| RC10_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC10_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC11_DZ |
0 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC11_MAX |
1900 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC11_MIN |
1100 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC11_OPTION |
0 |
|
|
|
FALSE |
| RC11_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC11_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC12_DZ |
0 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC12_MAX |
1900 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC12_MIN |
1100 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC12_OPTION |
0 |
|
|
|
FALSE |
| RC12_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC12_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC13_DZ |
0 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC13_MAX |
1900 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC13_MIN |
1100 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC13_OPTION |
0 |
|
|
|
FALSE |
| RC13_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC13_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC14_DZ |
0 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC14_MAX |
1900 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC14_MIN |
1100 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC14_OPTION |
0 |
|
|
|
FALSE |
| RC14_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC14_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC15_DZ |
0 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC15_MAX |
1900 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC15_MIN |
1100 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC15_OPTION |
0 |
|
|
|
FALSE |
| RC15_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC15_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC16_DZ |
0 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC16_MAX |
1900 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC16_MIN |
1100 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC16_OPTION |
0 |
|
|
|
FALSE |
| RC16_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC16_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC2_DZ |
20 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC2_MAX |
2000 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC2_MIN |
1000 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC2_OPTION |
0 |
|
|
|
FALSE |
| RC2_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC2_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC3_DZ |
30 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC3_MAX |
2000 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC3_MIN |
1000 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC3_OPTION |
0 |
|
|
|
FALSE |
| RC3_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC3_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC4_DZ |
20 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC4_MAX |
2000 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC4_MIN |
1000 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC4_OPTION |
0 |
|
|
|
FALSE |
| RC4_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC4_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC5_DZ |
0 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC5_MAX |
2000 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC5_MIN |
1000 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC5_OPTION |
0 |
|
|
|
FALSE |
| RC5_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC5_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC6_DZ |
0 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC6_MAX |
2000 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC6_MIN |
1000 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC6_OPTION |
0 |
|
|
|
FALSE |
| RC6_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC6_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC7_DZ |
0 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC7_MAX |
2000 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC7_MIN |
1000 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC7_OPTION |
7 |
|
|
|
FALSE |
| RC7_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC7_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC8_DZ |
0 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC8_MAX |
2000 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC8_MIN |
1000 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC8_OPTION |
0 |
|
|
|
FALSE |
| RC8_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC8_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RC9_DZ |
0 |
PWM |
0
200 |
PWM
dead zone in microseconds around trim or bottom |
FALSE |
| RC9_MAX |
1900 |
PWM |
800
2200 |
RC
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC9_MIN |
1100 |
PWM |
800
2200 |
RC
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit. |
FALSE |
| RC9_OPTION |
0 |
|
|
|
FALSE |
| RC9_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
channel input. Set to 0 for normal operation. Set to 1 to reverse this input
channel. |
FALSE |
| RC9_TRIM |
1500 |
PWM |
800
2200 |
RC
trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit. |
FALSE |
| RCMAP_PITCH |
2 |
|
1
8 |
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. |
FALSE |
| RCMAP_ROLL |
1 |
|
1
8 |
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. |
FALSE |
| RCMAP_THROTTLE |
3 |
|
1
8 |
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. |
FALSE |
| RCMAP_YAW |
4 |
|
1
8 |
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. |
FALSE |
| RELAY_DEFAULT |
0 |
|
0:Off
1:On 2:NoChange |
The
state of the relay on boot. |
FALSE |
| RELAY_PIN |
13 |
|
-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 |
Digital
pin number for first relay control. This is the pin used for camera control. |
FALSE |
| RELAY_PIN2 |
-1 |
|
-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 |
Digital
pin number for 2nd relay control. |
FALSE |
| RELAY_PIN3 |
-1 |
|
-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 |
Digital
pin number for 3rd relay control. |
FALSE |
| RELAY_PIN4 |
-1 |
|
-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 |
Digital
pin number for 4th relay control. |
FALSE |
| RELAY_PIN5 |
-1 |
|
|
|
FALSE |
| RELAY_PIN6 |
-1 |
|
|
|
FALSE |
| RNGFND_GAIN |
0.8 |
|
0.01
2.0 |
Used
to adjust the speed with which the target altitude is changed when objects
are sensed below the copter |
FALSE |
| RNGFND1_ADDR |
0 |
|
|
|
FALSE |
| RNGFND1_FUNCTION |
0 |
|
|
|
FALSE |
| RNGFND1_GNDCLEAR |
10 |
|
|
|
FALSE |
| RNGFND1_MAX_CM |
700 |
|
|
|
FALSE |
| RNGFND1_MIN_CM |
20 |
|
|
|
FALSE |
| RNGFND1_OFFSET |
0 |
|
|
|
FALSE |
| RNGFND1_ORIENT |
25 |
|
|
|
FALSE |
| RNGFND1_PIN |
-1 |
|
|
|
FALSE |
| RNGFND1_POS_X |
0 |
|
|
|
FALSE |
| RNGFND1_POS_Y |
0 |
|
|
|
FALSE |
| RNGFND1_POS_Z |
0 |
|
|
|
FALSE |
| RNGFND1_PWRRNG |
0 |
|
|
|
FALSE |
| RNGFND1_RMETRIC |
1 |
|
|
|
FALSE |
| RNGFND1_SCALING |
3 |
|
|
|
FALSE |
| RNGFND1_SETTLE |
0 |
|
|
|
FALSE |
| RNGFND1_STOP_PIN |
-1 |
|
|
|
FALSE |
| RNGFND1_TYPE |
0 |
|
|
|
FALSE |
| RNGFND2_ADDR |
0 |
|
0
127 |
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. |
FALSE |
| RNGFND2_FUNCTION |
0 |
|
0:Linear
1:Inverted 2:Hyperbolic |
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. |
FALSE |
| RNGFND2_GNDCLEAR |
10 |
cm |
0
127 |
This
parameter sets the expected range measurement(in cm) that the second range
finder should return when the vehicle is on the ground. |
FALSE |
| RNGFND2_MAX_CM |
700 |
cm |
|
Maximum
distance in centimeters that rangefinder can reliably read |
FALSE |
| RNGFND2_MIN_CM |
20 |
cm |
|
Minimum
distance in centimeters that rangefinder can reliably read |
FALSE |
| RNGFND2_OFFSET |
0 |
V |
|
Offset
in volts for zero distance |
FALSE |
| RNGFND2_ORIENT |
25 |
|
0:Forward
1:Forward-Right 2:Right 3:Back-Right 4:Back
5:Back-Left 6:Left 7:Forward-Left 24:Up 25:Down |
Orientation
of 2nd rangefinder |
FALSE |
| RNGFND2_PIN |
-1 |
|
-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 |
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. |
FALSE |
| RNGFND2_POS_X |
0 |
m |
|
X
position of the second rangefinder in body frame. Positive X is forward of
the origin. Use the zero range datum point if supplied. |
FALSE |
| RNGFND2_POS_Y |
0 |
m |
|
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. |
FALSE |
| RNGFND2_POS_Z |
0 |
m |
|
Z
position of the second rangefinder in body frame. Positive Z is down from the
origin. Use the zero range datum point if supplied. |
FALSE |
| RNGFND2_PWRRNG |
0 |
|
|
|
FALSE |
| RNGFND2_RMETRIC |
1 |
|
0:No
1:Yes |
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. |
FALSE |
| RNGFND2_SCALING |
3 |
m/V |
|
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. |
FALSE |
| RNGFND2_SETTLE |
0 |
ms |
|
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. |
FALSE |
| RNGFND2_STOP_PIN |
-1 |
|
-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 |
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. |
FALSE |
| RNGFND2_TYPE |
0 |
|
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 |
What
type of rangefinder device that is connected |
FALSE |
| RNGFND3_ADDR |
0 |
|
0
127 |
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. |
FALSE |
| RNGFND3_FUNCTION |
0 |
|
0:Linear
1:Inverted 2:Hyperbolic |
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. |
FALSE |
| RNGFND3_GNDCLEAR |
10 |
cm |
0
127 |
This
parameter sets the expected range measurement(in cm) that the third range
finder should return when the vehicle is on the ground. |
FALSE |
| RNGFND3_MAX_CM |
700 |
cm |
|
Maximum
distance in centimeters that rangefinder can reliably read |
FALSE |
| RNGFND3_MIN_CM |
20 |
cm |
|
Minimum
distance in centimeters that rangefinder can reliably read |
FALSE |
| RNGFND3_OFFSET |
0 |
V |
|
Offset
in volts for zero distance |
FALSE |
| RNGFND3_ORIENT |
25 |
|
0:Forward
1:Forward-Right 2:Right 3:Back-Right 4:Back
5:Back-Left 6:Left 7:Forward-Left 24:Up 25:Down |
Orientation
of 3rd rangefinder |
FALSE |
| RNGFND3_PIN |
-1 |
|
-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 |
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. |
FALSE |
| RNGFND3_POS_X |
0 |
m |
|
X
position of the third rangefinder in body frame. Positive X is forward of the
origin. Use the zero range datum point if supplied. |
FALSE |
| RNGFND3_POS_Y |
0 |
m |
|
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. |
FALSE |
| RNGFND3_POS_Z |
0 |
m |
|
Z
position of the third rangefinder in body frame. Positive Z is down from the
origin. Use the zero range datum point if supplied. |
FALSE |
| RNGFND3_PWRRNG |
0 |
|
|
|
FALSE |
| RNGFND3_RMETRIC |
1 |
|
0:No
1:Yes |
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. |
FALSE |
| RNGFND3_SCALING |
3 |
m/V |
|
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. |
FALSE |
| RNGFND3_SETTLE |
0 |
ms |
|
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. |
FALSE |
| RNGFND3_STOP_PIN |
-1 |
|
-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 |
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. |
FALSE |
| RNGFND3_TYPE |
0 |
|
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 |
What
type of rangefinder device that is connected |
FALSE |
| RNGFND4_ADDR |
0 |
|
0
127 |
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. |
FALSE |
| RNGFND4_FUNCTION |
0 |
|
0:Linear
1:Inverted 2:Hyperbolic |
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. |
FALSE |
| RNGFND4_GNDCLEAR |
10 |
cm |
0
127 |
This
parameter sets the expected range measurement(in cm) that the fourth range
finder should return when the vehicle is on the ground. |
FALSE |
| RNGFND4_MAX_CM |
700 |
cm |
|
Maximum
distance in centimeters that rangefinder can reliably read |
FALSE |
| RNGFND4_MIN_CM |
20 |
cm |
|
Minimum
distance in centimeters that rangefinder can reliably read |
FALSE |
| RNGFND4_OFFSET |
0 |
V |
|
Offset
in volts for zero distance |
FALSE |
| RNGFND4_ORIENT |
25 |
|
0:Forward
1:Forward-Right 2:Right 3:Back-Right 4:Back
5:Back-Left 6:Left 7:Forward-Left 24:Up 25:Down |
Orientation
of 4th range finder |
FALSE |
| RNGFND4_PIN |
-1 |
|
-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 |
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. |
FALSE |
| RNGFND4_POS_X |
0 |
m |
|
X
position of the fourth rangefinder in body frame. Use the zero range datum
point if supplied. |
FALSE |
| RNGFND4_POS_Y |
0 |
m |
|
Y
position of the fourth rangefinder in body frame. Use the zero range datum
point if supplied. |
FALSE |
| RNGFND4_POS_Z |
0 |
m |
|
Z
position of the fourth rangefinder in body frame. Use the zero range datum
point if supplied. |
FALSE |
| RNGFND4_PWRRNG |
0 |
|
|
|
FALSE |
| RNGFND4_RMETRIC |
1 |
|
0:No
1:Yes |
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. |
FALSE |
| RNGFND4_SCALING |
3 |
m/V |
|
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. |
FALSE |
| RNGFND4_SETTLE |
0 |
ms |
|
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. |
FALSE |
| RNGFND4_STOP_PIN |
-1 |
|
-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 |
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. |
FALSE |
| RNGFND4_TYPE |
0 |
|
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 |
What
type of rangefinder device that is connected |
FALSE |
| RNGFND5_ADDR |
0 |
|
|
|
FALSE |
| RNGFND5_FUNCTION |
0 |
|
|
|
FALSE |
| RNGFND5_GNDCLEAR |
10 |
|
|
|
FALSE |
| RNGFND5_MAX_CM |
700 |
|
|
|
FALSE |
| RNGFND5_MIN_CM |
20 |
|
|
|
FALSE |
| RNGFND5_OFFSET |
0 |
|
|
|
FALSE |
| RNGFND5_ORIENT |
25 |
|
|
|
FALSE |
| RNGFND5_PIN |
-1 |
|
|
|
FALSE |
| RNGFND5_POS_X |
0 |
|
|
|
FALSE |
| RNGFND5_POS_Y |
0 |
|
|
|
FALSE |
| RNGFND5_POS_Z |
0 |
|
|
|
FALSE |
| RNGFND5_PWRRNG |
0 |
|
|
|
FALSE |
| RNGFND5_RMETRIC |
1 |
|
|
|
FALSE |
| RNGFND5_SCALING |
3 |
|
|
|
FALSE |
| RNGFND5_SETTLE |
0 |
|
|
|
FALSE |
| RNGFND5_STOP_PIN |
-1 |
|
|
|
FALSE |
| RNGFND5_TYPE |
0 |
|
|
|
FALSE |
| RNGFND6_ADDR |
0 |
|
|
|
FALSE |
| RNGFND6_FUNCTION |
0 |
|
|
|
FALSE |
| RNGFND6_GNDCLEAR |
10 |
|
|
|
FALSE |
| RNGFND6_MAX_CM |
700 |
|
|
|
FALSE |
| RNGFND6_MIN_CM |
20 |
|
|
|
FALSE |
| RNGFND6_OFFSET |
0 |
|
|
|
FALSE |
| RNGFND6_ORIENT |
25 |
|
|
|
FALSE |
| RNGFND6_PIN |
-1 |
|
|
|
FALSE |
| RNGFND6_POS_X |
0 |
|
|
|
FALSE |
| RNGFND6_POS_Y |
0 |
|
|
|
FALSE |
| RNGFND6_POS_Z |
0 |
|
|
|
FALSE |
| RNGFND6_PWRRNG |
0 |
|
|
|
FALSE |
| RNGFND6_RMETRIC |
1 |
|
|
|
FALSE |
| RNGFND6_SCALING |
3 |
|
|
|
FALSE |
| RNGFND6_SETTLE |
0 |
|
|
|
FALSE |
| RNGFND6_STOP_PIN |
-1 |
|
|
|
FALSE |
| RNGFND6_TYPE |
0 |
|
|
|
FALSE |
| RNGFND7_ADDR |
0 |
|
|
|
FALSE |
| RNGFND7_FUNCTION |
0 |
|
|
|
FALSE |
| RNGFND7_GNDCLEAR |
10 |
|
|
|
FALSE |
| RNGFND7_MAX_CM |
700 |
|
|
|
FALSE |
| RNGFND7_MIN_CM |
20 |
|
|
|
FALSE |
| RNGFND7_OFFSET |
0 |
|
|
|
FALSE |
| RNGFND7_ORIENT |
25 |
|
|
|
FALSE |
| RNGFND7_PIN |
-1 |
|
|
|
FALSE |
| RNGFND7_POS_X |
0 |
|
|
|
FALSE |
| RNGFND7_POS_Y |
0 |
|
|
|
FALSE |
| RNGFND7_POS_Z |
0 |
|
|
|
FALSE |
| RNGFND7_PWRRNG |
0 |
|
|
|
FALSE |
| RNGFND7_RMETRIC |
1 |
|
|
|
FALSE |
| RNGFND7_SCALING |
3 |
|
|
|
FALSE |
| RNGFND7_SETTLE |
0 |
|
|
|
FALSE |
| RNGFND7_STOP_PIN |
-1 |
|
|
|
FALSE |
| RNGFND7_TYPE |
0 |
|
|
|
FALSE |
| RNGFND8_ADDR |
0 |
|
|
|
FALSE |
| RNGFND8_FUNCTION |
0 |
|
|
|
FALSE |
| RNGFND8_GNDCLEAR |
10 |
|
|
|
FALSE |
| RNGFND8_MAX_CM |
700 |
|
|
|
FALSE |
| RNGFND8_MIN_CM |
20 |
|
|
|
FALSE |
| RNGFND8_OFFSET |
0 |
|
|
|
FALSE |
| RNGFND8_ORIENT |
25 |
|
|
|
FALSE |
| RNGFND8_PIN |
-1 |
|
|
|
FALSE |
| RNGFND8_POS_X |
0 |
|
|
|
FALSE |
| RNGFND8_POS_Y |
0 |
|
|
|
FALSE |
| RNGFND8_POS_Z |
0 |
|
|
|
FALSE |
| RNGFND8_PWRRNG |
0 |
|
|
|
FALSE |
| RNGFND8_RMETRIC |
1 |
|
|
|
FALSE |
| RNGFND8_SCALING |
3 |
|
|
|
FALSE |
| RNGFND8_SETTLE |
0 |
|
|
|
FALSE |
| RNGFND8_STOP_PIN |
-1 |
|
|
|
FALSE |
| RNGFND8_TYPE |
0 |
|
|
|
FALSE |
| RNGFND9_ADDR |
0 |
|
|
|
FALSE |
| RNGFND9_FUNCTION |
0 |
|
|
|
FALSE |
| RNGFND9_GNDCLEAR |
10 |
|
|
|
FALSE |
| RNGFND9_MAX_CM |
700 |
|
|
|
FALSE |
| RNGFND9_MIN_CM |
20 |
|
|
|
FALSE |
| RNGFND9_OFFSET |
0 |
|
|
|
FALSE |
| RNGFND9_ORIENT |
25 |
|
|
|
FALSE |
| RNGFND9_PIN |
-1 |
|
|
|
FALSE |
| RNGFND9_POS_X |
0 |
|
|
|
FALSE |
| RNGFND9_POS_Y |
0 |
|
|
|
FALSE |
| RNGFND9_POS_Z |
0 |
|
|
|
FALSE |
| RNGFND9_PWRRNG |
0 |
|
|
|
FALSE |
| RNGFND9_RMETRIC |
1 |
|
|
|
FALSE |
| RNGFND9_SCALING |
3 |
|
|
|
FALSE |
| RNGFND9_SETTLE |
0 |
|
|
|
FALSE |
| RNGFND9_STOP_PIN |
-1 |
|
|
|
FALSE |
| RNGFND9_TYPE |
0 |
|
|
|
FALSE |
| RNGFNDA_ADDR |
0 |
|
|
|
FALSE |
| RNGFNDA_FUNCTION |
0 |
|
|
|
FALSE |
| RNGFNDA_GNDCLEAR |
10 |
|
|
|
FALSE |
| RNGFNDA_MAX_CM |
700 |
|
|
|
FALSE |
| RNGFNDA_MIN_CM |
20 |
|
|
|
FALSE |
| RNGFNDA_OFFSET |
0 |
|
|
|
FALSE |
| RNGFNDA_ORIENT |
25 |
|
|
|
FALSE |
| RNGFNDA_PIN |
-1 |
|
|
|
FALSE |
| RNGFNDA_POS_X |
0 |
|
|
|
FALSE |
| RNGFNDA_POS_Y |
0 |
|
|
|
FALSE |
| RNGFNDA_POS_Z |
0 |
|
|
|
FALSE |
| RNGFNDA_PWRRNG |
0 |
|
|
|
FALSE |
| RNGFNDA_RMETRIC |
1 |
|
|
|
FALSE |
| RNGFNDA_SCALING |
3 |
|
|
|
FALSE |
| RNGFNDA_SETTLE |
0 |
|
|
|
FALSE |
| RNGFNDA_STOP_PIN |
-1 |
|
|
|
FALSE |
| RNGFNDA_TYPE |
0 |
|
|
|
FALSE |
| RPM_MAX |
100000 |
|
|
Maximum
RPM to report |
FALSE |
| RPM_MIN |
10 |
|
|
Minimum
RPM to report |
FALSE |
| RPM_MIN_QUAL |
0.5 |
|
|
Minimum
data quality to be used |
FALSE |
| RPM_PIN |
54 |
|
-1:Disabled
50:PixhawkAUX1 51:PixhawkAUX2 52:PixhawkAUX3 53:PixhawkAUX4 54:PixhawkAUX5
55:PixhawkAUX6 |
Which
pin to use |
FALSE |
| RPM_SCALING |
1 |
|
|
Scaling
factor between sensor reading and RPM. |
FALSE |
| RPM_TYPE |
0 |
|
0:None
1:PX4-PWM 2:AUXPIN |
What
type of RPM sensor is connected |
FALSE |
| RPM2_PIN |
-1 |
|
-1:Disabled
50:PixhawkAUX1 51:PixhawkAUX2 52:PixhawkAUX3 53:PixhawkAUX4 54:PixhawkAUX5
55:PixhawkAUX6 |
Which
pin to use |
FALSE |
| RPM2_SCALING |
1 |
|
|
Scaling
factor between sensor reading and RPM. |
FALSE |
| RPM2_TYPE |
0 |
|
0:None
1:PX4-PWM 2:AUXPIN |
What
type of RPM sensor is connected |
FALSE |
| RSSI_TYPE |
0 |
|
0:Disabled
1:AnalogPin 2:RCChannelPwmValue 3:ReceiverProtocol 4:PWMInputPin |
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. |
FALSE |
| RTL_ALT |
1000 |
cm |
0
8000 |
The
minimum relative altitude the model will move to before Returning to Launch.
Set to zero to return at current altitude. |
FALSE |
| RTL_ALT_FINAL |
0 |
cm |
-1
1000 |
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. |
FALSE |
| RTL_CLIMB_MIN |
0 |
cm |
0
3000 |
The
vehicle will climb this many cm during the initial climb portion of the RTL |
FALSE |
| RTL_CONE_SLOPE |
3 |
|
0.5
10.00:Disabled 1:Shallow 3:Steep |
Defines
a cone above home which determines maximum climb |
FALSE |
| RTL_LOIT_TIME |
5000 |
ms |
0
60000 |
Time
(in milliseconds) to loiter above home before beginning final descent |
FALSE |
| RTL_SPEED |
0 |
cm/s |
0
2000 |
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. |
FALSE |
| SCHED_DEBUG |
0 |
|
0:Disabled
2:ShowSlips 3:ShowOverruns |
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. |
FALSE |
| SCHED_LOOP_RATE |
400 |
|
50:50Hz
100:100Hz 200:200Hz 250:250Hz 300:300Hz 400:400Hz |
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. |
FALSE |
| SCR_ENABLE |
0 |
|
|
|
FALSE |
| SERIAL_PASS1 |
0 |
|
|
|
FALSE |
| SERIAL_PASS2 |
-1 |
|
|
|
FALSE |
| SERIAL_PASSTIMO |
15 |
|
|
|
FALSE |
| SERIAL0_BAUD |
115 |
|
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 |
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. |
FALSE |
| SERIAL0_PROTOCOL |
2 |
|
1:MAVlink1
2:MAVLink2 |
Control
what protocol to use on the console. |
FALSE |
| SERIAL1_BAUD |
57 |
|
1:1200
2:2400 4:4800 9:9600 19:19200 38:38400 57:57600 111:111100 115:115200
500:500000 921:921600 1500:1500000 |
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. |
FALSE |
| SERIAL1_OPTIONS |
0 |
|
|
|
FALSE |
| SERIAL1_PROTOCOL |
1 |
|
-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 |
Control
what protocol to use on the Telem1 port. Note that the Frsky options require
external converter hardware. See the wiki for details. |
FALSE |
| SERIAL2_BAUD |
57 |
|
1:1200
2:2400 4:4800 9:9600 19:19200 38:38400 57:57600 111:111100 115:115200
500:500000 921:921600 1500:1500000 |
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. |
FALSE |
| SERIAL2_OPTIONS |
0 |
|
|
|
FALSE |
| SERIAL2_PROTOCOL |
1 |
|
-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 |
Control
what protocol to use on the Telem2 port. Note that the Frsky options require
external converter hardware. See the wiki for details. |
FALSE |
| SERIAL3_BAUD |
38 |
|
1:1200
2:2400 4:4800 9:9600 19:19200 38:38400 57:57600 111:111100 115:115200
500:500000 921:921600 1500:1500000 |
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. |
FALSE |
| SERIAL3_OPTIONS |
0 |
|
|
|
FALSE |
| SERIAL3_PROTOCOL |
5 |
|
-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 |
Control
what protocol Serial 3 (GPS) should be used for. Note that the Frsky options
require external converter hardware. See the wiki for details. |
FALSE |
| SERIAL4_BAUD |
38 |
|
1:1200
2:2400 4:4800 9:9600 19:19200 38:38400 57:57600 111:111100 115:115200
500:500000 921:921600 1500:1500000 |
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. |
FALSE |
| SERIAL4_OPTIONS |
0 |
|
|
|
FALSE |
| SERIAL4_PROTOCOL |
5 |
|
-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 |
Control
what protocol Serial4 port should be used for. Note that the Frsky options
require external converter hardware. See the wiki for details. |
FALSE |
| SERIAL5_BAUD |
57 |
|
1:1200
2:2400 4:4800 9:9600 19:19200 38:38400 57:57600 111:111100 115:115200
500:500000 921:921600 1500:1500000 |
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. |
FALSE |
| SERIAL5_OPTIONS |
0 |
|
|
|
FALSE |
| SERIAL5_PROTOCOL |
-1 |
|
-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 |
Control
what protocol Serial5 port should be used for. Note that the Frsky options
require external converter hardware. See the wiki for details. |
FALSE |
| SERIAL6_BAUD |
57 |
|
1:1200
2:2400 4:4800 9:9600 19:19200 38:38400 57:57600 111:111100 115:115200
500:500000 921:921600 1500:1500000 |
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. |
FALSE |
| SERIAL6_OPTIONS |
0 |
|
|
|
FALSE |
| SERIAL6_PROTOCOL |
-1 |
|
-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 |
Control
what protocol Serial6 port should be used for. Note that the Frsky options
require external converter hardware. See the wiki for details. |
FALSE |
| SERVO_RATE |
50 |
Hz |
25
400 |
This
sets the default output rate in Hz for all outputs. |
FALSE |
| SERVO_ROB_POSMAX |
4095 |
|
|
|
FALSE |
| SERVO_ROB_POSMIN |
0 |
|
|
|
FALSE |
| SERVO_SBUS_RATE |
50 |
Hz |
25
250 |
This
sets the SBUS output frame rate in Hz. |
FALSE |
| SERVO_VOLZ_MASK |
0 |
|
|
Enable
of volz servo protocol to specific channels |
FALSE |
| SERVO1_FUNCTION |
33 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO1_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO1_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO1_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO1_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO10_FUNCTION |
0 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO10_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO10_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO10_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO10_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO11_FUNCTION |
0 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO11_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO11_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO11_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO11_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO12_FUNCTION |
0 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO12_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO12_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO12_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO12_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO13_FUNCTION |
0 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO13_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO13_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO13_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO13_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO14_FUNCTION |
0 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO14_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO14_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO14_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO14_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO15_FUNCTION |
0 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO15_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO15_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO15_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO15_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO16_FUNCTION |
0 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO16_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO16_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO16_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO16_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO2_FUNCTION |
34 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO2_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO2_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO2_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO2_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO3_FUNCTION |
35 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO3_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO3_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO3_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO3_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO4_FUNCTION |
36 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO4_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO4_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO4_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO4_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO5_FUNCTION |
0 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO5_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO5_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO5_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO5_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO6_FUNCTION |
0 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO6_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO6_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO6_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO6_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO7_FUNCTION |
0 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO7_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO7_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO7_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO7_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO8_FUNCTION |
0 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO8_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO8_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO8_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO8_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO9_FUNCTION |
0 |
|
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:HeliRSC 32:HeliTailRSC 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 |
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 |
FALSE |
| SERVO9_MAX |
1900 |
PWM |
800
2200 |
maximum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO9_MIN |
1100 |
PWM |
500
2200 |
minimum
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SERVO9_REVERSED |
0 |
|
0:Normal
1:Reversed |
Reverse
servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel. |
FALSE |
| SERVO9_TRIM |
1500 |
PWM |
800
2200 |
Trim
PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit. |
FALSE |
| SIM_ACC_BIAS_X |
0 |
|
|
|
FALSE |
| SIM_ACC_BIAS_Y |
0 |
|
|
|
FALSE |
| SIM_ACC_BIAS_Z |
0 |
|
|
|
FALSE |
| SIM_ACC_FAIL_MSK |
0 |
|
|
|
FALSE |
| SIM_ACC_RND |
0 |
|
|
|
FALSE |
| SIM_ACC2_BIAS_X |
0 |
|
|
|
FALSE |
| SIM_ACC2_BIAS_Y |
0 |
|
|
|
FALSE |
| SIM_ACC2_BIAS_Z |
0 |
|
|
|
FALSE |
| SIM_ACC2_RND |
0 |
|
|
|
FALSE |
| SIM_ACCEL_FAIL |
0 |
|
|
|
FALSE |
| SIM_ADSB_ALT |
1000 |
|
|
|
FALSE |
| SIM_ADSB_COUNT |
-1 |
|
|
|
FALSE |
| SIM_ADSB_RADIUS |
10000 |
|
|
|
FALSE |
| SIM_ADSB_TX |
0 |
|
|
|
FALSE |
| SIM_ARSPD_FAIL |
0 |
|
|
|
FALSE |
| SIM_ARSPD_FAIL_P |
0 |
|
|
|
FALSE |
| SIM_ARSPD_PITOT |
0 |
|
|
|
FALSE |
| SIM_ARSPD_RND |
0.5 |
|
|
|
FALSE |
| SIM_ARSPD_SIGN |
0 |
|
|
|
FALSE |
| SIM_ARSPD2_FAIL |
0 |
|
|
|
FALSE |
| SIM_ARSPD2_FAILP |
0 |
|
|
|
FALSE |
| SIM_ARSPD2_PITOT |
0 |
|
|
|
FALSE |
| SIM_BARO_DELAY |
0 |
|
|
|
FALSE |
| SIM_BARO_DISABLE |
0 |
|
|
|
FALSE |
| SIM_BARO_DRIFT |
0 |
|
|
|
FALSE |
| SIM_BARO_GLITCH |
0 |
|
|
|
FALSE |
| SIM_BARO_RND |
0 |
|
|
|
FALSE |
| SIM_BATT_VOLTAGE |
12.6 |
|
|
|
FALSE |
| SIM_BAUDLIMIT_EN |
0 |
|
|
|
FALSE |
| SIM_DRIFT_SPEED |
0.05 |
|
|
|
FALSE |
| SIM_DRIFT_TIME |
5 |
|
|
|
FALSE |
| SIM_ENGINE_FAIL |
0 |
|
|
|
FALSE |
| SIM_ENGINE_MUL |
1 |
|
|
|
FALSE |
| SIM_FLOAT_EXCEPT |
1 |
|
|
|
FALSE |
| SIM_FLOW_DELAY |
0 |
|
|
|
FALSE |
| SIM_FLOW_ENABLE |
0 |
|
|
|
FALSE |
| SIM_FLOW_POS_X |
0 |
|
|
|
FALSE |
| SIM_FLOW_POS_Y |
0 |
|
|
|
FALSE |
| SIM_FLOW_POS_Z |
0 |
|
|
|
FALSE |
| SIM_FLOW_RATE |
10 |
|
|
|
FALSE |
| SIM_FLOW_RND |
0.05 |
|
|
|
FALSE |
| SIM_GND_BEHAV |
-1 |
|
|
|
FALSE |
| SIM_GP2_GLITCH_X |
0 |
|
|
|
FALSE |
| SIM_GP2_GLITCH_Y |
0 |
|
|
|
FALSE |
| SIM_GP2_GLITCH_Z |
0 |
|
|
|
FALSE |
| SIM_GPS_ALT_OFS |
0 |
|
|
|
FALSE |
| SIM_GPS_BYTELOSS |
0 |
|
|
|
FALSE |
| SIM_GPS_DELAY |
1 |
|
|
|
FALSE |
| SIM_GPS_DISABLE |
0 |
|
|
|
FALSE |
| SIM_GPS_DRIFTALT |
0 |
|
|
|
FALSE |
| SIM_GPS_GLITCH_X |
0 |
|
|
|
FALSE |
| SIM_GPS_GLITCH_Y |
0 |
|
|
|
FALSE |
| SIM_GPS_GLITCH_Z |
0 |
|
|
|
FALSE |
| SIM_GPS_HZ |
5 |
|
|
|
FALSE |
| SIM_GPS_LOCKTIME |
0 |
|
|
|
FALSE |
| SIM_GPS_NOISE |
0 |
|
|
|
FALSE |
| SIM_GPS_NUMSATS |
10 |
|
|
|
FALSE |
| SIM_GPS_POS_X |
0 |
|
|
|
FALSE |
| SIM_GPS_POS_Y |
0 |
|
|
|
FALSE |
| SIM_GPS_POS_Z |
0 |
|
|
|
FALSE |
| SIM_GPS_TYPE |
1 |
|
|
|
FALSE |
| SIM_GPS2_ENABLE |
0 |
|
|
|
FALSE |
| SIM_GPS2_TYPE |
1 |
|
|
|
FALSE |
| SIM_GRPE_ENABLE |
0 |
|
|
|
FALSE |
| SIM_GRPE_PIN |
-1 |
|
|
|
FALSE |
| SIM_GRPS_ENABLE |
0 |
|
|
|
FALSE |
| SIM_GRPS_GRAB |
2000 |
|
|
|
FALSE |
| SIM_GRPS_PIN |
-1 |
|
|
|
FALSE |
| SIM_GRPS_RELEASE |
1000 |
|
|
|
FALSE |
| SIM_GRPS_REVERSE |
0 |
|
|
|
FALSE |
| SIM_GYR_FAIL_MSK |
0 |
|
|
|
FALSE |
| SIM_GYR_RND |
0 |
|
|
|
FALSE |
| SIM_GYR_SCALE_X |
0 |
|
|
|
FALSE |
| SIM_GYR_SCALE_Y |
0 |
|
|
|
FALSE |
| SIM_GYR_SCALE_Z |
0 |
|
|
|
FALSE |
| SIM_IMU_POS_X |
0 |
|
|
|
FALSE |
| SIM_IMU_POS_Y |
0 |
|
|
|
FALSE |
| SIM_IMU_POS_Z |
0 |
|
|
|
FALSE |
| SIM_MAG_ALY_HGT |
1 |
|
|
|
FALSE |
| SIM_MAG_ALY_X |
0 |
|
|
|
FALSE |
| SIM_MAG_ALY_Y |
0 |
|
|
|
FALSE |
| SIM_MAG_ALY_Z |
0 |
|
|
|
FALSE |
| SIM_MAG_DELAY |
0 |
|
|
|
FALSE |
| SIM_MAG_DIA_X |
0 |
|
|
|
FALSE |
| SIM_MAG_DIA_Y |
0 |
|
|
|
FALSE |
| SIM_MAG_DIA_Z |
0 |
|
|
|
FALSE |
| SIM_MAG_ERROR |
0 |
|
|
|
FALSE |
| SIM_MAG_MOT_X |
0 |
|
|
|
FALSE |
| SIM_MAG_MOT_Y |
0 |
|
|
|
FALSE |
| SIM_MAG_MOT_Z |
0 |
|
|
|
FALSE |
| SIM_MAG_ODI_X |
0 |
|
|
|
FALSE |
| SIM_MAG_ODI_Y |
0 |
|
|
|
FALSE |
| SIM_MAG_ODI_Z |
0 |
|
|
|
FALSE |
| SIM_MAG_OFS_X |
5 |
|
|
|
FALSE |
| SIM_MAG_OFS_Y |
13 |
|
|
|
FALSE |
| SIM_MAG_OFS_Z |
-18 |
|
|
|
FALSE |
| SIM_MAG_ORIENT |
0 |
|
|
|
FALSE |
| SIM_MAG_RND |
0 |
|
|
|
FALSE |
| SIM_ODOM_ENABLE |
0 |
|
|
|
FALSE |
| SIM_PARA_ENABLE |
0 |
|
|
|
FALSE |
| SIM_PARA_PIN |
-1 |
|
|
|
FALSE |
| SIM_PIN_MASK |
0 |
|
|
|
FALSE |
| SIM_PLD_ALT_LMT |
15 |
|
|
|
FALSE |
| SIM_PLD_DIST_LMT |
10 |
|
|
|
FALSE |
| SIM_PLD_ENABLE |
0 |
|
|
|
FALSE |
| SIM_PLD_HEIGHT |
0 |
|
|
|
FALSE |
| SIM_PLD_LAT |
35.87926 |
|
|
|
FALSE |
| SIM_PLD_LON |
140.3391 |
|
|
|
FALSE |
| SIM_PLD_RATE |
100 |
|
|
|
FALSE |
| SIM_PLD_TYPE |
0 |
|
|
|
FALSE |
| SIM_PLD_YAW |
0 |
|
|
|
FALSE |
| SIM_RC_CHANCOUNT |
16 |
|
|
|
FALSE |
| SIM_RC_FAIL |
0 |
|
|
|
FALSE |
| SIM_SERVO_SPEED |
0.14 |
|
|
|
FALSE |
| SIM_SHOVE_TIME |
0 |
|
|
|
FALSE |
| SIM_SHOVE_X |
0 |
|
|
|
FALSE |
| SIM_SHOVE_Y |
0 |
|
|
|
FALSE |
| SIM_SHOVE_Z |
0 |
|
|
|
FALSE |
| SIM_SONAR_GLITCH |
0 |
|
|
|
FALSE |
| SIM_SONAR_POS_X |
0 |
|
|
|
FALSE |
| SIM_SONAR_POS_Y |
0 |
|
|
|
FALSE |
| SIM_SONAR_POS_Z |
0 |
|
|
|
FALSE |
| SIM_SONAR_RND |
0 |
|
|
|
FALSE |
| SIM_SONAR_SCALE |
12.1212 |
|
|
|
FALSE |
| SIM_SPEEDUP |
1 |
|
|
|
FALSE |
| SIM_SPR_ENABLE |
0 |
|
|
|
FALSE |
| SIM_SPR_PUMP |
-1 |
|
|
|
FALSE |
| SIM_SPR_SPIN |
-1 |
|
|
|
FALSE |
| SIM_TEMP_BFACTOR |
0 |
|
|
|
FALSE |
| SIM_TEMP_FLIGHT |
35 |
|
|
|
FALSE |
| SIM_TEMP_START |
25 |
|
|
|
FALSE |
| SIM_TEMP_TCONST |
30 |
|
|
|
FALSE |
| SIM_TERRAIN |
1 |
|
|
|
FALSE |
| SIM_TWIST_TIME |
0 |
|
|
|
FALSE |
| SIM_TWIST_X |
0 |
|
|
|
FALSE |
| SIM_TWIST_Y |
0 |
|
|
|
FALSE |
| SIM_TWIST_Z |
0 |
|
|
|
FALSE |
| SIM_VIB_FREQ_X |
0 |
|
|
|
FALSE |
| SIM_VIB_FREQ_Y |
0 |
|
|
|
FALSE |
| SIM_VIB_FREQ_Z |
0 |
|
|
|
FALSE |
| SIM_VICON_HSTLEN |
0 |
|
|
|
FALSE |
| SIM_WIND_DELAY |
0 |
|
|
|
FALSE |
| SIM_WIND_DIR |
180 |
|
|
|
FALSE |
| SIM_WIND_DIR_Z |
0 |
|
|
|
FALSE |
| SIM_WIND_SPD |
0 |
|
|
|
FALSE |
| SIM_WIND_T |
0 |
|
|
|
FALSE |
| SIM_WIND_T_ALT |
60 |
|
|
|
FALSE |
| SIM_WIND_T_COEF |
0.01 |
|
|
|
FALSE |
| SIM_WIND_TURB |
0 |
|
|
|
FALSE |
| SIM_WOW_PIN |
-1 |
|
|
|
FALSE |
| SIMPLE |
0 |
|
|
Bitmask
which holds which flight modes use simple heading mode (eg bit 0 = 1 means
Flight Mode 0 uses simple mode) |
FALSE |
| SPRAY_ENABLE |
0 |
|
0:Disabled
1:Enabled |
Allows
you to enable (1) or disable (0) the sprayer |
FALSE |
| SR0_ADSB |
0 |
Hz |
0
50 |
ADSB
stream rate to ground station |
FALSE |
| SR0_EXT_STAT |
2 |
Hz |
0
10 |
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 |
FALSE |
| SR0_EXTRA1 |
4 |
Hz |
0
10 |
Stream
rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground
station |
FALSE |
| SR0_EXTRA2 |
4 |
Hz |
0
10 |
Stream
rate of VFR_HUD to ground station |
FALSE |
| SR0_EXTRA3 |
2 |
Hz |
0
10 |
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 |
FALSE |
| SR0_PARAMS |
0 |
Hz |
0
10 |
Stream
rate of PARAM_VALUE to ground station |
FALSE |
| SR0_POSITION |
2 |
Hz |
0
10 |
Stream
rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station |
FALSE |
| SR0_RAW_CTRL |
0 |
Hz |
0
10 |
Stream
rate of RC_CHANNELS_SCALED (HIL only) to ground station |
FALSE |
| SR0_RAW_SENS |
2 |
Hz |
0
10 |
Stream
rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2,
SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station |
FALSE |
| SR0_RC_CHAN |
2 |
Hz |
0
10 |
Stream
rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station |
FALSE |
| SR1_ADSB |
0 |
Hz |
0
50 |
ADSB
stream rate to ground station |
FALSE |
| SR1_EXT_STAT |
0 |
Hz |
0
10 |
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 |
FALSE |
| SR1_EXTRA1 |
0 |
Hz |
0
10 |
Stream
rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground
station |
FALSE |
| SR1_EXTRA2 |
0 |
Hz |
0
10 |
Stream
rate of VFR_HUD to ground station |
FALSE |
| SR1_EXTRA3 |
0 |
Hz |
0
10 |
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 |
FALSE |
| SR1_PARAMS |
0 |
Hz |
0
10 |
Stream
rate of PARAM_VALUE to ground station |
FALSE |
| SR1_POSITION |
0 |
Hz |
0
10 |
Stream
rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station |
FALSE |
| SR1_RAW_CTRL |
0 |
Hz |
0
10 |
Stream
rate of RC_CHANNELS_SCALED (HIL only) to ground station |
FALSE |
| SR1_RAW_SENS |
0 |
Hz |
0
10 |
Stream
rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2,
SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station |
FALSE |
| SR1_RC_CHAN |
0 |
Hz |
0
10 |
Stream
rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station |
FALSE |
| SR2_ADSB |
0 |
Hz |
0
50 |
ADSB
stream rate to ground station |
FALSE |
| SR2_EXT_STAT |
0 |
Hz |
0
10 |
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 |
FALSE |
| SR2_EXTRA1 |
0 |
Hz |
0
10 |
Stream
rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground
station |
FALSE |
| SR2_EXTRA2 |
0 |
Hz |
0
10 |
Stream
rate of VFR_HUD to ground station |
FALSE |
| SR2_EXTRA3 |
0 |
Hz |
0
10 |
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 |
FALSE |
| SR2_PARAMS |
0 |
Hz |
0
10 |
Stream
rate of PARAM_VALUE to ground station |
FALSE |
| SR2_POSITION |
0 |
Hz |
0
10 |
Stream
rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station |
FALSE |
| SR2_RAW_CTRL |
0 |
Hz |
0
10 |
Stream
rate of RC_CHANNELS_SCALED (HIL only) to ground station |
FALSE |
| SR2_RAW_SENS |
0 |
Hz |
0
10 |
Stream
rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2,
SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station |
FALSE |
| SR2_RC_CHAN |
0 |
Hz |
0
10 |
Stream
rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station |
FALSE |
| SR3_ADSB |
0 |
Hz |
0
50 |
ADSB
stream rate to ground station |
FALSE |
| SR3_EXT_STAT |
0 |
Hz |
0
10 |
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 |
FALSE |
| SR3_EXTRA1 |
0 |
Hz |
0
10 |
Stream
rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground
station |
FALSE |
| SR3_EXTRA2 |
0 |
Hz |
0
10 |
Stream
rate of VFR_HUD to ground station |
FALSE |
| SR3_EXTRA3 |
0 |
Hz |
0
10 |
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 |
FALSE |
| SR3_PARAMS |
0 |
Hz |
0
10 |
Stream
rate of PARAM_VALUE to ground station |
FALSE |
| SR3_POSITION |
0 |
Hz |
0
10 |
Stream
rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station |
FALSE |
| SR3_RAW_CTRL |
0 |
Hz |
0
10 |
Stream
rate of RC_CHANNELS_SCALED (HIL only) to ground station |
FALSE |
| SR3_RAW_SENS |
0 |
Hz |
0
10 |
Stream
rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2,
SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station |
FALSE |
| SR3_RC_CHAN |
0 |
Hz |
0
10 |
Stream
rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station |
FALSE |
| SRTL_ACCURACY |
2 |
m |
0
10 |
SmartRTL
accuracy. The minimum distance between points. |
FALSE |
| SRTL_POINTS |
300 |
|
0
500 |
SmartRTL
maximum number of points on path. Set to 0 to disable SmartRTL. 100
points consumes about 3k of memory. |
FALSE |
| STAT_BOOTCNT |
88 |
|
|
Number
of times board has been booted |
FALSE |
| STAT_FLTTIME |
9979 |
s |
|
Total
FlightTime (seconds) |
FALSE |
| STAT_RESET |
6.36E+07 |
s |
|
Seconds
since January 1st 2016 (Unix epoch+1451606400) since reset (set to 0 to reset
statistics) |
FALSE |
| STAT_RUNTIME |
84424 |
s |
|
Total
time autopilot has run |
FALSE |
| SUPER_SIMPLE |
0 |
|
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 |
Bitmask
to enable Super Simple mode for some flight modes. Setting this to
Disabled(0) will disable Super Simple Mode |
FALSE |
| SYSID_ENFORCE |
0 |
|
0:NotEnforced
1:Enforced |
This
controls whether packets from other than the expected GCS system ID will be
accepted |
FALSE |
| SYSID_MYGCS |
255 |
|
255:Mission
Planner and DroidPlanner 252: AP Planner 2 |
Allows
restricting radio overrides to only come from my ground station |
FALSE |
| SYSID_SW_MREV |
120 |
|
|
This
value is incremented when changes are made to the eeprom format |
FALSE |
| SYSID_THISMAV |
1 |
|
1
255 |
Allows
setting an individual MAVLink system id for this vehicle to distinguish it
from others on the same network |
FALSE |
| TCAL_ENABLED |
0 |
|
|
|
FALSE |
| TELEM_DELAY |
0 |
s |
0
30 |
The
amount of time (in seconds) to delay radio telemetry to prevent an Xbee
bricking on power up |
FALSE |
| TERRAIN_ENABLE |
1 |
|
0:Disable
1: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. |
FALSE |
| TERRAIN_FOLLOW |
0 |
|
0:Do
Not Use in RTL and Land 1:Use in RTL and Land |
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. |
FALSE |
| TERRAIN_SPACING |
100 |
m |
|
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. |
FALSE |
| THR_DZ |
100 |
PWM |
0
300 |
The
deadzone above and below mid throttle in PWM microseconds. Used in AltHold,
Loiter, PosHold flight modes |
FALSE |
| THROW_MOT_START |
0 |
|
0:Stopped
1:Running |
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. |
FALSE |
| THROW_NEXTMODE |
18 |
|
3:Auto
4:Guided 5:LOITER 6:RTL 9:Land 17:Brake 18:Throw |
Vehicle
will switch to this mode after the throw is successfully completed.
Default is to stay in throw mode (18) |
FALSE |
| THROW_TYPE |
0 |
|
0:Upward
Throw 1:Drop |
Used
by THROW mode. Specifies whether Copter is thrown upward or dropped. |
FALSE |
| TUNE |
0 |
|
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 |
Controls
which parameters (normally PID gains) are being tuned with transmitter's
channel 6 knob |
FALSE |
| TUNE_MAX |
0 |
|
|
|
FALSE |
| TUNE_MIN |
0 |
|
|
|
FALSE |
| VISO_ORIENT |
0 |
|
0:Forward
2:Right 4:Back 6:Left 24:Up 25:Down |
Visual
odometery camera orientation |
FALSE |
| VISO_POS_X |
0 |
m |
|
X
position of the camera in body frame. Positive X is forward of the origin. |
FALSE |
| VISO_POS_Y |
0 |
m |
|
Y
position of the camera in body frame. Positive Y is to the right of the
origin. |
FALSE |
| VISO_POS_Z |
0 |
m |
|
Z
position of the camera in body frame. Positive Z is down from the origin. |
FALSE |
| VISO_TYPE |
0 |
|
0:None
1:MAV |
Visual
odometry camera connection type |
FALSE |
| WP_NAVALT_MIN |
0 |
|
0
5 |
This
is the altitude in meters above which for navigation can begin. This applies
in auto takeoff and auto landing. |
FALSE |
| WP_YAW_BEHAVIOR |
2 |
|
0:Never
change yaw 1:Face next waypoint 2:Face next waypoint except RTL
3:Face along GPS course |
Determines
how the autopilot controls the yaw during missions and RTL |
FALSE |
| WPNAV_ACCEL |
100 |
cm/s/s |
50
500 |
Defines
the horizontal acceleration in cm/s/s used during missions |
FALSE |
| WPNAV_ACCEL_Z |
100 |
cm/s/s |
50
500 |
Defines
the vertical acceleration in cm/s/s used during missions |
FALSE |
| WPNAV_RADIUS |
200 |
cm |
10
1000 |
Defines
the distance from a waypoint, that when crossed indicates the wp has been
hit. |
FALSE |
| WPNAV_RFND_USE |
1 |
|
0:Disable
1:Enable |
This
controls if waypoint missions use rangefinder for terrain following |
FALSE |
| WPNAV_SPEED |
500 |
cm/s |
20
2000 |
Defines
the speed in cm/s which the aircraft will attempt to maintain horizontally
during a WP mission |
FALSE |
| WPNAV_SPEED_DN |
150 |
cm/s |
10
500 |
Defines
the speed in cm/s which the aircraft will attempt to maintain while
descending during a WP mission |
FALSE |
| WPNAV_SPEED_UP |
250 |
cm/s |
10
1000 |
Defines
the speed in cm/s which the aircraft will attempt to maintain while climbing
during a WP mission |
FALSE |
|
|
|
|
|
|