This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your APM to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code. Some parameters may only be available for developers, and are enabled at compile-time.

ArduSub Parameters

SURFACE_DEPTH: Depth reading at surface

The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)

• Range: -100 0

SYSID_SW_MREV: Eeprom format version number

Note: This parameter is for advanced users

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

• ReadOnly: True

SYSID_SW_TYPE: Software Type

Note: This parameter is for advanced users

This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)

• ReadOnly: True

SYSID_THISMAV: MAVLink system ID of this vehicle

Note: This parameter is for advanced users

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

• Range: 1 255

SYSID_MYGCS: My ground station number

Note: This parameter is for advanced users

Allows restricting radio overrides to only come from my ground station

PILOT_THR_FILT: Throttle filter cutoff

Note: This parameter is for advanced users

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

• Range: 0 10

• Increment: .5

• Units: Hz

GCS_PID_MASK: GCS PID tuning mask

Note: This parameter is for advanced users

bitmask of PIDs to send MAVLink PID_TUNING messages for

• Bitmask: 0:Roll,1:Pitch,2:Yaw

RNGFND_GAIN: Rangefinder gain

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

• Range: 0.01 2.0

• Increment: 0.01

FS_BATT_ENABLE: Battery Failsafe Enable

Controls whether failsafe will be invoked when battery voltage or current runs low

FS_BATT_VOLTAGE: Failsafe battery voltage

Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe.

• Increment: 0.1

• Units: V

FS_BATT_MAH: Failsafe battery milliAmpHours

Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe.

• Increment: 50

• Units: mA.h

FS_GCS_ENABLE: Ground Station Failsafe Enable

Controls what action to take when GCS heartbeat is lost.

FS_LEAK_ENABLE: Leak Failsafe Enable

Controls what action to take if a leak is detected.

FS_PRESS_ENABLE: Internal Pressure Failsafe Enable

Controls what action to take if internal pressure exceeds FS_PRESS_MAX parameter.

FS_TEMP_ENABLE: Internal Temperature Failsafe Enable

Controls what action to take if internal temperature exceeds FS_TEMP_MAX parameter.

FS_PRESS_MAX: Internal Pressure Failsafe Threshold

The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter

• Units: Pa

FS_TEMP_MAX: Internal Temperature Failsafe Threshold

The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter.

• Units: degC

FS_TERRAIN_ENAB: Terrain Failsafe Enable

Controls what action to take if terrain information is lost during AUTO mode

FS_PILOT_INPUT: Pilot input failsafe action

Controls what action to take if no pilot input has been received after the timeout period specified by the FS_PILOT_TIMEOUT parameter

FS_PILOT_TIMEOUT: Timeout for activation of pilot input failsafe

Controls the maximum interval between received pilot inputs before the failsafe action is triggered

• Range: 0.1 3.0

• Units: s

XTRACK_ANG_LIM: Crosstrack correction angle limit

Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation

• Range: 10 90

MAG_ENABLE: Compass enable/disable

Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass

WP_YAW_BEHAVIOR: Yaw behaviour during missions

Determines how the autopilot controls the yaw during missions and RTL

PILOT_VELZ_MAX: Pilot maximum vertical speed

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

• Range: 50 500

• Increment: 10

• Units: cm/s

PILOT_ACCEL_Z: Pilot vertical acceleration

The vertical acceleration used when pilot is controlling the altitude

• Range: 50 500

• Increment: 10

• Units: cm/s/s

THR_DZ: Throttle deadzone

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

• Range: 0 300

• Increment: 1

• Units: PWM

LOG_BITMASK: Log bitmask

4 byte bitmap of log types to enable

• Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW

ANGLE_MAX: Angle Max

Note: This parameter is for advanced users

Maximum lean angle in all flight modes

• Range: 1000 8000

• Units: cdeg

RC_FEEL_RP: RC Feel Roll/Pitch

RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp

• Range: 0 100

• Increment: 10

FS_EKF_ACTION: EKF Failsafe Action

Note: This parameter is for advanced users

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

FS_EKF_THRESH: EKF failsafe variance threshold

Note: This parameter is for advanced users

Allows setting the maximum acceptable compass and velocity variance

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

FS_CRASH_CHECK: Crash check enable

Note: This parameter is for advanced users

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

JS_GAIN_DEFAULT: Default gain at boot

Default gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]

• Range: 0.1 1.0

JS_GAIN_MAX: Maximum joystick gain

Maximum joystick gain

• Range: 0.2 1.0

JS_GAIN_MIN: Minimum joystick gain

Minimum joystick gain

• Range: 0.1 0.8

JS_GAIN_STEPS: Gain steps

Controls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT.

• Range: 1 10

JS_CAM_TILT_STEP: Camera tilt step size

Size of PWM increment in microseconds on camera tilt servo

• Range: 30 400

• Units: PWM

JS_LIGHTS_STEP: Lights step size

Size of PWM increment in microseconds on lights servo

• Range: 30 400

• Units: PWM

JS_THR_GAIN: Throttle gain scalar

Scalar for gain on the throttle channel

• Range: 0.5 4.0

CAM_CENTER: Camera tilt mount center

Servo PWM in microseconds at camera center position

• Range: 1000 2000

• Units: PWM

FRAME_CONFIG: Frame configuration

Set this parameter according to your vehicle/motor configuration

• RebootRequired: True

RC_SPEED: ESC Update Speed

Note: This parameter is for advanced users

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

• Range: 50 490

• Increment: 1

• Units: Hz

ACRO_RP_P: Acro Roll and Pitch P gain

Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.

• Range: 1 10

ACRO_YAW_P: Acro Yaw P gain

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

• Range: 1 10

ACRO_BAL_ROLL: Acro Balance Roll

Note: This parameter is for advanced users

rate at which roll angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.

• Range: 0 3

• Increment: 0.1

ACRO_BAL_PITCH: Acro Balance Pitch

Note: This parameter is for advanced users

rate at which pitch angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.

• Range: 0 3

• Increment: 0.1

ACRO_TRAINER: Acro Trainer

Note: This parameter is for advanced users

Type of trainer used in acro mode

ACRO_EXPO: Acro Expo

Note: This parameter is for advanced users

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

VEL_XY_P: Velocity (horizontal) P gain

Note: This parameter is for advanced users

Velocity (horizontal) P gain. Converts the difference between desired velocity to a target acceleration

• Range: 0.1 6.0

• Increment: 0.1

VEL_XY_I: Velocity (horizontal) I gain

Note: This parameter is for advanced users

Velocity (horizontal) I gain. Corrects long-term difference in desired velocity to a target acceleration

• Range: 0.02 1.00

• Increment: 0.01

VEL_XY_IMAX: Velocity (horizontal) integrator maximum

Note: This parameter is for advanced users

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

• Range: 0 4500

• Increment: 10

• Units: cm/s/s

VEL_XY_FILT_HZ: Velocity (horizontal) integrator maximum

Note: This parameter is for advanced users

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

• Range: 0 4500

• Increment: 10

• Units: cm/s/s

VEL_Z_P: Velocity (vertical) P gain

Velocity (vertical) P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

• Range: 1.000 8.000

ACCEL_Z_P: Throttle acceleration controller P gain

Throttle acceleration controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output

• Range: 0.500 1.500

• Increment: 0.05

ACCEL_Z_I: Throttle acceleration controller I gain

Throttle acceleration controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration

• Range: 0.000 3.000

ACCEL_Z_IMAX: Throttle acceleration controller I gain maximum

Throttle acceleration controller I gain maximum. Constrains the maximum pwm that the I term will generate

• Range: 0 1000

• Units: d%

ACCEL_Z_D: Throttle acceleration controller D gain

Throttle acceleration controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration

• Range: 0.000 0.400

ACCEL_Z_FILT: Throttle acceleration filter

Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay.

• Range: 1.000 100.000

• Units: Hz

POS_Z_P: Position (vertical) controller P gain

Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller

• Range: 1.000 3.000

POS_XY_P: Position (horizonal) controller P gain

Loiter position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller

• Range: 0.500 2.000

TERRAIN_FOLLOW: Terrain Following use control

This enables terrain following for RTL and SURFACE 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.

AHRS Parameters

AHRS_GPS_GAIN: AHRS GPS gain

Note: This parameter is for advanced users

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

• Range: 0.0 1.0

• Increment: .01

AHRS_GPS_USE: AHRS use GPS for navigation

Note: This parameter is for advanced users

This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.

AHRS_YAW_P: Yaw P

Note: This parameter is for advanced users

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

• Range: 0.1 0.4

• Increment: .01

AHRS_RP_P: AHRS RP_P

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

• Range: 0.1 0.4

• Increment: .01

AHRS_WIND_MAX: Maximum wind

Note: This parameter is for advanced users

This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.

• Range: 0 127

• Increment: 1

• Units: m/s

AHRS_TRIM_X: AHRS Trim Roll

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

• Range: -0.1745 +0.1745

• Increment: 0.01

• Units: rad

AHRS_TRIM_Y: AHRS Trim Pitch

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

• Range: -0.1745 +0.1745

• Increment: 0.01

• Units: rad

AHRS_TRIM_Z: AHRS Trim Yaw

Note: This parameter is for advanced users

Not Used

• Range: -0.1745 +0.1745

• Increment: 0.01

• Units: rad

AHRS_ORIENTATION: Board Orientation

Note: This parameter is for advanced users

Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient

Note: This parameter is for advanced users

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

• Range: 0.001 0.5

• Increment: .01

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites

Note: This parameter is for advanced users

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

• Range: 0 10

• Increment: 1

AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation

Note: This parameter is for advanced users

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

ARMING Parameters

ARMING_REQUIRE: Require Arming Motors

Note: This parameter is for advanced users

Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMINGCHECK* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane. Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure. This parameter is relevant for ArduPlane only.

ARMING_CHECK: Arm Checks to Peform (bitmask)

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

• Bitmask: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration

ARMING_ACCTHRESH: Accelerometer error threshold

Note: This parameter is for advanced users

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

• Range: 0.25 3.0

• Units: m/s/s

ARMING_MIN_VOLT: Minimum arming voltage on the first battery

The minimum voltage on the first battery to arm, 0 disables the check. This parameter is relevant for ArduPlane only.

• Increment: 0.1

• Units: V

ARMING_MIN_VOLT2: Minimum arming voltage on the second battery

The minimum voltage on the first battery to arm, 0 disables the check. This parameter is relevant for ArduPlane only.

• Increment: 0.1

• Units: V

ATC Parameters

ATC_SLEW_YAW: Yaw target slew rate

Note: This parameter is for advanced users

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

• Range: 500 18000

• Increment: 100

• Units: cdeg/s

ATC_ACCEL_Y_MAX: Acceleration Max for Yaw

Note: This parameter is for advanced users

Maximum acceleration in yaw axis

• Range: 0 72000

• Increment: 1000

• Units: cdeg/s/s

ATC_RATE_FF_ENAB: Rate Feedforward Enable

Note: This parameter is for advanced users

Controls whether body-frame rate feedfoward is enabled or disabled

ATC_ACCEL_R_MAX: Acceleration Max for Roll

Note: This parameter is for advanced users

Maximum acceleration in roll axis

• Range: 0 180000

• Increment: 1000

• Units: cdeg/s/s

ATC_ACCEL_P_MAX: Acceleration Max for Pitch

Note: This parameter is for advanced users

Maximum acceleration in pitch axis

• Range: 0 180000

• Increment: 1000

• Units: cdeg/s/s

ATC_ANGLE_BOOST: Angle Boost

Note: This parameter is for advanced users

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

ATC_ANG_RLL_P: Roll axis angle controller P gain

Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate

• Range: 3.000 12.000

ATC_ANG_PIT_P: Pitch axis angle controller P gain

Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate

• Range: 3.000 12.000

ATC_ANG_YAW_P: Yaw axis angle controller P gain

Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate

• Range: 3.000 6.000

ATC_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant

Note: This parameter is for advanced users

Angle Limit (to maintain altitude) Time Constant

• Range: 0.5 10.0

ATC_RAT_RLL_P: Roll axis rate controller P gain

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

• Range: 0.08 0.30

• Increment: 0.005

ATC_RAT_RLL_I: Roll axis rate controller I gain

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

• Range: 0.01 0.5

• Increment: 0.01

ATC_RAT_RLL_IMAX: Roll axis rate controller I gain maximum

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

• Range: 0 1

• Increment: 0.01

• Units: %

ATC_RAT_RLL_D: Roll axis rate controller D gain

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

• Range: 0.0 0.02

• Increment: 0.001

ATC_RAT_RLL_FF: Roll axis rate controller feed forward

Roll axis rate controller feed forward

• Range: 0 0.5

• Increment: 0.001

ATC_RAT_RLL_FILT: Roll axis rate controller input frequency in Hz

Roll axis rate controller input frequency in Hz

• Range: 1 100

• Increment: 1

• Units: Hz

ATC_RAT_PIT_P: Pitch axis rate controller P gain

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

• Range: 0.08 0.30

• Increment: 0.005

ATC_RAT_PIT_I: Pitch axis rate controller I gain

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

• Range: 0.01 0.5

• Increment: 0.01

ATC_RAT_PIT_IMAX: Pitch axis rate controller I gain maximum

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

• Range: 0 1

• Increment: 0.01

• Units: %

ATC_RAT_PIT_D: Pitch axis rate controller D gain

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

• Range: 0.0 0.02

• Increment: 0.001

ATC_RAT_PIT_FF: Pitch axis rate controller feed forward

Pitch axis rate controller feed forward

• Range: 0 0.5

• Increment: 0.001

ATC_RAT_PIT_FILT: Pitch axis rate controller input frequency in Hz

Pitch axis rate controller input frequency in Hz

• Range: 1 100

• Increment: 1

• Units: Hz

ATC_RAT_YAW_P: Yaw axis rate controller P gain

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

• Range: 0.10 0.50

• Increment: 0.005

ATC_RAT_YAW_I: Yaw axis rate controller I gain

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

• Range: 0.010 0.05

• Increment: 0.01

ATC_RAT_YAW_IMAX: Yaw axis rate controller I gain maximum

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

• Range: 0 1

• Increment: 0.01

• Units: %

ATC_RAT_YAW_D: Yaw axis rate controller D gain

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

• Range: 0.000 0.02

• Increment: 0.001

ATC_RAT_YAW_FF: Yaw axis rate controller feed forward

Yaw axis rate controller feed forward

• Range: 0 0.5

• Increment: 0.001

ATC_RAT_YAW_FILT: Yaw axis rate controller input frequency in Hz

Yaw axis rate controller input frequency in Hz

• Range: 1 100

• Increment: 1

• Units: Hz

ATC_THR_MIX_MIN: Throttle Mix Minimum

Note: This parameter is for advanced users

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

• Range: 0.1 0.25

ATC_THR_MIX_MAX: Throttle Mix Maximum

Note: This parameter is for advanced users

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

• Range: 0.5 0.9

ATC_THR_MIX_MAN: Throttle Mix Manual

Note: This parameter is for advanced users

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

• Range: 0.5 0.9

BATT Parameters

BATT_MONITOR: Battery monitoring

Controls enabling monitoring of the battery's voltage and current

BATT_VOLT_PIN: Battery Voltage sensing pin

Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13.

BATT_CURR_PIN: Battery Current sensing pin

Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14.

BATT_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.

BATT_AMP_PERVOLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

• Units: A/V

BATT_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

• Units: V

BATT_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

• Increment: 50

• Units: mA.h

BATT_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

• Increment: 1

• Units: W

BATT_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1

BATT2_MONITOR: Battery monitoring

Controls enabling monitoring of the battery's voltage and current

BATT2_VOLT_PIN: Battery Voltage sensing pin

Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13.

BATT2_CURR_PIN: Battery Current sensing pin

Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14.

BATT2_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.

BATT2_AMP_PERVOL: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

• Units: A/V

BATT2_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

• Units: V

BATT2_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

• Increment: 50

• Units: mA.h

BATT2_WATT_MAX: Maximum allowed current

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

• Increment: 1

• Units: A

BATT2_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1

BATT_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

• Range: 0 120

• Increment: 1

• Units: s

BATT_LOW_TYPE: Low voltage type

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

BRD Parameters

BRD_PWM_COUNT: Auxiliary pin config

Note: This parameter is for advanced users

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

• RebootRequired: True

BRD_SER1_RTSCTS: Serial 1 flow control

Note: This parameter is for advanced users

Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.

• RebootRequired: True

BRD_SER2_RTSCTS: Serial 2 flow control

Note: This parameter is for advanced users

Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

• RebootRequired: True

BRD_SAFETYENABLE: Enable use of safety arming switch

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

• RebootRequired: True

BRD_SBUS_OUT: SBUS output rate

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz

• RebootRequired: True

BRD_SERIAL_NUM: User-defined serial number

User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot

• Range: -32768 32767

BRD_SAFETY_MASK: Channels to which ignore the safety switch state

Note: This parameter is for advanced users

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

• Bitmask: 0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14

• RebootRequired: True

BRD_IMU_TARGTEMP: Target IMU temperature

Note: This parameter is for advanced users

This sets the target IMU temperature for boards with controllable IMU heating units. A value of -1 disables heating.

• Range: -1 80

• Units: degC

BRD_TYPE: Board type

Note: This parameter is for advanced users

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

• RebootRequired: True

BRD_IO_ENABLE: Enable IO co-processor

Note: This parameter is for advanced users

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

• RebootRequired: True

BTNn Parameters

BTNn_FUNCTION: Function for button

Set to 0 to disable or choose a function

BTNn_SFUNCTION: Function for button when the shift mode is toggled on

Set to 0 to disable or choose a function

CAM Parameters

CAM_TRIGG_TYPE: Camera shutter (trigger) type

how to trigger the camera to take a picture

CAM_DURATION: Duration that shutter is held open

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

• Range: 0 50

• Units: ds

CAM_SERVO_ON: Servo ON PWM value

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

• Range: 1000 2000

• Units: PWM

CAM_SERVO_OFF: Servo OFF PWM value

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

• Range: 1000 2000

• Units: PWM

CAM_TRIGG_DIST: Camera trigger distance

Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.

• Range: 0 1000

• Units: m

CAM_RELAY_ON: Relay ON value

This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera

CAM_MIN_INTERVAL: Minimum time between photos

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

• Range: 0 10000

• Units: ms

CAM_MAX_ROLL: Maximum photo roll angle.

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

• Range: 0 180

• Units: deg

CAM_FEEDBACK_PIN: Camera feedback pin

pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond.

CAM_FEEDBACK_POL: Camera feedback pin polarity

Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low

CAND1 Parameters

CAN_D1_DRIVER: Index of virtual driver to be used with physical CAN interface

Enabling this option enables use of CAN buses.

• RebootRequired: True

CAN_D1_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

• Range: 10000 1000000

CAN_D1_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

• RebootRequired: True

CAND1UC Parameters

CAN_D1_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

• Range: 1 250

CAN_D1_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN

Note: This parameter is for advanced users

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

• Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15

CAN_D1_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

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

• Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16

CAND2 Parameters

CAN_D2_DRIVER: Index of virtual driver to be used with physical CAN interface

Enabling this option enables use of CAN buses.

• RebootRequired: True

CAN_D2_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

• Range: 10000 1000000

CAN_D2_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

• RebootRequired: True

CAND2UC Parameters

CAN_D2_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

• Range: 1 250

CAN_D2_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN

Note: This parameter is for advanced users

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

• Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15

CAN_D2_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

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

• Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16

CAND3 Parameters

CAN_D3_DRIVER: Index of virtual driver to be used with physical CAN interface

Enabling this option enables use of CAN buses.

• RebootRequired: True

CAN_D3_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

• Range: 10000 1000000

CAN_D3_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

• RebootRequired: True

CAND3UC Parameters

CAN_D3_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

• Range: 1 250

CAN_D3_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN

Note: This parameter is for advanced users

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

• Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15

CAN_D3_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

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

• Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16

CANP1 Parameters

CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface

Enabling this option enables use of CAN buses.

• RebootRequired: True

CAN_P1_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

• Range: 10000 1000000

CAN_P1_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

CAN_P1_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

• RebootRequired: True

CANP1UC Parameters

CAN_P1_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

• Range: 1 250

CAN_P1_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN

Note: This parameter is for advanced users

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

• Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15

CAN_P1_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

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

• Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16

CANP2 Parameters

CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface

Enabling this option enables use of CAN buses.

• RebootRequired: True

CAN_P2_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

• Range: 10000 1000000

CAN_P2_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

CAN_P2_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

• RebootRequired: True

CANP2UC Parameters

CAN_P2_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

• Range: 1 250

CAN_P2_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN

Note: This parameter is for advanced users

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

• Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15

CAN_P2_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

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

• Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16

CANP3 Parameters

CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface

Enabling this option enables use of CAN buses.

• RebootRequired: True

CAN_P3_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

• Range: 10000 1000000

CAN_P3_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

CAN_P3_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

• RebootRequired: True

CANP3UC Parameters

CAN_P3_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

• Range: 1 250

CAN_P3_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN

Note: This parameter is for advanced users

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

• Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15

CAN_P3_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

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

• Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16

COMPASS Parameters

COMPASS_OFS_X: Compass offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

• Range: -400 400

• Increment: 1

• Units: mGauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

• Range: -400 400

• Increment: 1

• Units: mGauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

• Range: -400 400

• Increment: 1

• Units: mGauss

COMPASS_DEC: Compass declination

An angle to compensate between the true north and magnetic north

• Range: -3.142 3.142

• Increment: 0.01

• Units: rad

COMPASS_LEARN: Learn compass offsets automatically

Note: This parameter is for advanced users

Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle.

COMPASS_USE: Use compass for yaw

Note: This parameter is for advanced users

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

COMPASS_AUTODEC: Auto Declination

Note: This parameter is for advanced users

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

COMPASS_MOTCT: Motor interference compensation type

Note: This parameter is for advanced users

Set motor interference compensation type to disabled, throttle or current. Do not change manually.

COMPASS_MOT_X: Motor interference compensation for body frame X axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

• Range: -1000 1000

• Increment: 1

• Units: mGauss/A

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

• Range: -1000 1000

• Increment: 1

• Units: mGauss/A

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

• Range: -1000 1000

• Increment: 1

• Units: mGauss/A

COMPASS_ORIENT: Compass orientation

Note: This parameter is for advanced users

The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.

COMPASS_EXTERNAL: Compass is attached via an external cable

Note: This parameter is for advanced users

Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

• Range: -400 400

• Increment: 1

• Units: mGauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

• Range: -400 400

• Increment: 1

• Units: mGauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

• Range: -400 400

• Increment: 1

• Units: mGauss

COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

• Range: -1000 1000

• Increment: 1

• Units: mGauss/A

COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

• Range: -1000 1000

• Increment: 1

• Units: mGauss/A

COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

• Range: -1000 1000

• Increment: 1

• Units: mGauss/A

COMPASS_PRIMARY: Choose primary compass

Note: This parameter is for advanced users

If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

• Range: -400 400

• Increment: 1

• Units: mGauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

• Range: -400 400

• Increment: 1

• Units: mGauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

• Range: -400 400

• Increment: 1

• Units: mGauss

COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

• Range: -1000 1000

• Increment: 1

• Units: mGauss/A

COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

• Range: -1000 1000

• Increment: 1

• Units: mGauss/A

COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

• Range: -1000 1000

• Increment: 1

• Units: mGauss/A

COMPASS_DEV_ID: Compass device id

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

COMPASS_DEV_ID2: Compass2 device id

Note: This parameter is for advanced users

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

COMPASS_DEV_ID3: Compass3 device id

Note: This parameter is for advanced users

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

COMPASS_USE2: Compass2 used for yaw

Note: This parameter is for advanced users

Enable or disable the second compass for determining heading.

COMPASS_ORIENT2: Compass2 orientation

Note: This parameter is for advanced users

The orientation of the second compass relative to the frame (if external) or autopilot board (if internal).

COMPASS_EXTERN2: Compass2 is attached via an external cable

Note: This parameter is for advanced users

Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

COMPASS_USE3: Compass3 used for yaw

Note: This parameter is for advanced users

Enable or disable the third compass for determining heading.

COMPASS_ORIENT3: Compass3 orientation

Note: This parameter is for advanced users

The orientation of the third compass relative to the frame (if external) or autopilot board (if internal).

COMPASS_EXTERN3: Compass3 is attached via an external cable

Note: This parameter is for advanced users

Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

COMPASS_DIA_X: Compass soft-iron diagonal X component

Note: This parameter is for advanced users

DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA_Y: Compass soft-iron diagonal Y component

Note: This parameter is for advanced users

DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA_Z: Compass soft-iron diagonal Z component

Note: This parameter is for advanced users

DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI_X: Compass soft-iron off-diagonal X component

Note: This parameter is for advanced users

ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component

Note: This parameter is for advanced users

ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component

Note: This parameter is for advanced users

ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component

Note: This parameter is for advanced users

DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component

Note: This parameter is for advanced users

DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component

Note: This parameter is for advanced users

DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component

Note: This parameter is for advanced users

ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component

Note: This parameter is for advanced users

DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component

Note: This parameter is for advanced users

DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component

Note: This parameter is for advanced users

DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component

Note: This parameter is for advanced users

ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_CAL_FIT: Compass calibration fitness

Note: This parameter is for advanced users

This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.

• Range: 4 32

• Increment: 0.1

COMPASS_OFFS_MAX: Compass maximum offset

Note: This parameter is for advanced users

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

• Range: 500 3000

• Increment: 1

COMPASS_TYPEMASK: Compass disable driver type mask

Note: This parameter is for advanced users

This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup

• Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,10:QFLIGHT,11:UAVCAN,12:QMC5883

EK2 Parameters

EK2_ENABLE: Enable EKF2

Note: This parameter is for advanced users

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

• RebootRequired: True

EK2_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.

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

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

• Range: 0.05 5.0

• Increment: 0.05

• Units: m/s

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

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

• Range: 0.05 5.0

• Increment: 0.05

• Units: m/s

EK2_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

• Range: 0.1 10.0

• Increment: 0.1

• Units: m

EK2_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK2_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.

• Range: 10 100

• Increment: 5

• Units: m

EK2_GPS_DELAY: GPS measurement delay (msec)

Note: This parameter is for advanced users

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

• Range: 0 250

• Increment: 10

• Units: ms

• RebootRequired: True

EK2_ALT_SOURCE: Primary altitude sensor source

Note: This parameter is for advanced users

This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.

EK2_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.

• Range: 0.1 10.0

• Increment: 0.1

• Units: m

EK2_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK2_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

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

• Range: 0 250

• Increment: 10

• Units: ms

• RebootRequired: True

EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

• Range: 0.01 0.5

• Increment: 0.01

• Units: Gauss

EK2_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states 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.

EK2_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

• Range: 0.5 5.0

• Increment: 0.1

• Units: m/s

EK2_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK2_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

• Range: 0.1 10.0

• Increment: 0.1

• Units: m

EK2_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK2_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

• Range: 1.0 4.0

• Increment: 0.1

• Units: rad/s

EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

• Range: 0.05 1.0

• Increment: 0.05

• Units: rad/s

EK2_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK2_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

• Range: 0 127

• Increment: 10

• Units: ms

• RebootRequired: True

EK2_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

• Range: 0.0001 0.1

• Increment: 0.0001

• Units: rad/s

EK2_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

• Range: 0.01 1.0

• Increment: 0.01

• Units: m/s/s

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

Note: This parameter is for advanced users

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

• Range: 0.00001 0.001

• Units: rad/s/s

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

Note: This parameter is for advanced users

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

• Range: 0.000001 0.001

• Units: Hz

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

Note: This parameter is for advanced users

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

• Range: 0.00001 0.001

• Units: m/s/s/s

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

Note: This parameter is for advanced users

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

• Range: 0.01 1.0

• Increment: 0.1

• Units: m/s/s

EK2_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

• Range: 0.0 1.0

• Increment: 0.1

EK2_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

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

EK2_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.

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

• RebootRequired: True

EK2_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

• Range: 50 200

• Units: %

EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

• Range: 0.5 50.0

• Units: m

EK2_LOG_MASK: EKF sensor logging IMU mask

Note: This parameter is for advanced users

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

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

• RebootRequired: True

EK2_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

• Range: 0.05 1.0

• Increment: 0.05

• Units: rad

EK2_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

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

Note: This parameter is for advanced users

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

• Range: 10 50

• Increment: 5

• Units: cs

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

Note: This parameter is for advanced users

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

• Range: 0.00001 0.01

• Units: Gauss/s

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

Note: This parameter is for advanced users

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

• Range: 0.00001 0.01

• Units: Gauss/s

EK2_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use.

• Range: -1 70

• Increment: 1

• Units: %

EK2_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

• Range: 0 0.2

• Increment: 0.01

EK2_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

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

• Range: 0.1 10.0

• Increment: 0.1

• Units: m

EK2_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK2_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users

This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

• Range: 0 127

• Increment: 10

• Units: ms

• RebootRequired: True

EK2_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

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

• Range: 2.0 6.0

• Increment: 0.5

• Units: m/s

EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion

Note: This parameter is for advanced users

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

• Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF

• RebootRequired: True

EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

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

• RebootRequired: True

EK3 Parameters

EK3_ENABLE: Enable EKF3

Note: This parameter is for advanced users

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

• RebootRequired: True

EK3_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.

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

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

• Range: 0.05 5.0

• Increment: 0.05

• Units: m/s

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

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

• Range: 0.05 5.0

• Increment: 0.05

• Units: m/s

EK3_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

• Range: 0.1 10.0

• Increment: 0.1

• Units: m

EK3_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK3_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.

• Range: 10 100

• Increment: 5

• Units: m

EK3_ALT_SOURCE: Primary altitude sensor source

Note: This parameter is for advanced users

This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK3_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.

• RebootRequired: True

EK3_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.

• Range: 0.1 10.0

• Increment: 0.1

• Units: m

EK3_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK3_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

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

• Range: 0 250

• Increment: 10

• Units: ms

• RebootRequired: True

EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

• Range: 0.01 0.5

• Increment: 0.01

• Units: Gauss

EK3_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter.

• RebootRequired: True

EK3_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

• Range: 0.5 5.0

• Increment: 0.1

• Units: m/s

EK3_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK3_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

• Range: 0.1 10.0

• Increment: 0.1

• Units: m

EK3_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK3_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

• Range: 1.0 4.0

• Increment: 0.1

• Units: rad/s

EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

• Range: 0.05 1.0

• Increment: 0.05

• Units: rad/s

EK3_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK3_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

• Range: 0 250

• Increment: 10

• Units: ms

• RebootRequired: True

EK3_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

• Range: 0.0001 0.1

• Increment: 0.0001

• Units: rad/s

EK3_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

• Range: 0.01 1.0

• Increment: 0.01

• Units: m/s/s

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

Note: This parameter is for advanced users

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

• Range: 0.00001 0.001

• Units: rad/s/s

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

Note: This parameter is for advanced users

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

• Range: 0.00001 0.001

• Units: m/s/s/s

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

Note: This parameter is for advanced users

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

• Range: 0.01 1.0

• Increment: 0.1

• Units: m/s/s

EK3_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

• Range: 0.0 1.0

• Increment: 0.1

EK3_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

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

EK3_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.

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

• RebootRequired: True

EK3_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

• Range: 50 200

• Units: %

EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

• Range: 0.5 50.0

• Units: m

EK3_LOG_MASK: EKF sensor logging IMU mask

Note: This parameter is for advanced users

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

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

• RebootRequired: True

EK3_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

• Range: 0.05 1.0

• Increment: 0.05

• Units: rad

EK3_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

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

Note: This parameter is for advanced users

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

• Range: 10 50

• Increment: 5

• Units: cs

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

Note: This parameter is for advanced users

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

• Range: 0.00001 0.01

• Units: Gauss/s

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

Note: This parameter is for advanced users

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

• Range: 0.00001 0.01

• Units: Gauss/s

EK3_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use.

• Range: -1 70

• Increment: 1

• Units: %

EK3_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

• Range: 0 0.2

• Increment: 0.01

EK3_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

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

• Range: 0.1 10.0

• Increment: 0.1

• Units: m

EK3_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

• Range: 100 1000

• Increment: 25

EK3_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users

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

• Range: 0 250

• Increment: 10

• Units: ms

• RebootRequired: True

EK3_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

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

• Range: 2.0 6.0

• Increment: 0.5

• Units: m/s

EK3_ACC_BIAS_LIM: Accelerometer bias limit

Note: This parameter is for advanced users

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

• Range: 0.5 2.5

• Increment: 0.1

• Units: m/s/s

EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion

Note: This parameter is for advanced users

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

• Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF

• RebootRequired: True

EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

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

• RebootRequired: True

FENCE Parameters

FENCE_ENABLE: Fence enable/disable

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

FENCE_TYPE: Fence Type

Enabled fence types held as bitmask

• Bitmask: 0:Altitude,1:Circle,2:Polygon

FENCE_ACTION: Fence Action

What action should be taken when fence is breached

FENCE_ALT_MAX: Fence Maximum Altitude

Maximum altitude allowed before geofence triggers

• Range: 10 1000

• Increment: 1

• Units: m

FENCE_RADIUS: Circular Fence Radius

Circle fence radius which when breached will cause an RTL

• Range: 30 10000

• Units: m

FENCE_MARGIN: Fence Margin

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

• Range: 1 10

• Units: m

FENCE_TOTAL: Fence polygon point total

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

• Range: 1 20

FENCE_ALT_MIN: Fence Minimum Altitude

Minimum altitude allowed before geofence triggers

• Range: -100 100

• Increment: 1

• Units: m

GND Parameters

GND_ABS_PRESS: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

• ReadOnly: True

• Volatile: True

• Increment: 1

• Units: Pa

GND_TEMP: ground temperature

Note: This parameter is for advanced users

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

• Volatile: True

• Increment: 1

• Units: degC

GND_ALT_OFFSET: altitude offset

Note: This parameter is for advanced users

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

• Increment: 0.1

• Units: m

GND_PRIMARY: Primary barometer

Note: This parameter is for advanced users

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

GND_EXT_BUS: External baro bus

Note: This parameter is for advanced users

This selects the bus number for looking for an I2C barometer

GND_SPEC_GRAV: Specific Gravity (For water depth measurement)

This sets the specific gravity of the fluid when flying an underwater ROV.

• Values: 1.0:Freshwater,1.024:Saltwater

GND_ABS_PRESS2: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

• ReadOnly: True

• Volatile: True

• Increment: 1

• Units: Pa

GND_ABS_PRESS3: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

• ReadOnly: True

• Volatile: True

• Increment: 1

• Units: Pa

GPS Parameters

GPS_TYPE: GPS type

Note: This parameter is for advanced users

GPS type

• RebootRequired: True

GPS_TYPE2: 2nd GPS type

Note: This parameter is for advanced users

GPS type of 2nd GPS

• RebootRequired: True

GPS_NAVFILTER: Navigation filter setting

Note: This parameter is for advanced users

Navigation filter engine setting

GPS_AUTO_SWITCH: Automatic Switchover Setting

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock

GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS

Note: This parameter is for advanced users

Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.

• RebootRequired: True

GPS_SBAS_MODE: SBAS Mode

Note: This parameter is for advanced users

This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.

GPS_MIN_ELEV: Minimum elevation

Note: This parameter is for advanced users

This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.

• Range: -100 90

• Units: deg

GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets

Note: This parameter is for advanced users

The GGS can send raw serial packets to inject data to multiple GPSes.

GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask

Note: This parameter is for advanced users

Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged

GPS_RAW_DATA: Raw data logging

Note: This parameter is for advanced users

Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T.

• RebootRequired: True

GPS_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)

• Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS

GPS_SAVE_CFG: Save GPS configuration

Note: This parameter is for advanced users

Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.

GPS_GNSS_MODE2: GNSS system configuration

Note: This parameter is for advanced users

Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)

• Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS

GPS_AUTO_CONFIG: Automatic GPS configuration

Note: This parameter is for advanced users

Controls if the autopilot should automatically configure the GPS based on the parameters and default settings

GPS_RATE_MS: GPS update rate in milliseconds

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed

• Range: 50 200

• Units: ms

GPS_RATE_MS2: GPS 2 update rate in milliseconds

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed

• Range: 50 200

• Units: ms

GPS_POS1_X: Antenna X position offset

Note: This parameter is for advanced users

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

• Units: m

GPS_POS1_Y: Antenna Y position offset

Note: This parameter is for advanced users

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

• Units: m

GPS_POS1_Z: Antenna Z position offset

Note: This parameter is for advanced users

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

• Units: m

GPS_POS2_X: Antenna X position offset

Note: This parameter is for advanced users

X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

• Units: m

GPS_POS2_Y: Antenna Y position offset

Note: This parameter is for advanced users

Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

• Units: m

GPS_POS2_Z: Antenna Z position offset

Note: This parameter is for advanced users

Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

• Units: m

GPS_DELAY_MS: GPS delay in milliseconds

Note: This parameter is for advanced users

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

• Range: 0 250

• Units: ms

• RebootRequired: True

GPS_DELAY_MS2: GPS 2 delay in milliseconds

Note: This parameter is for advanced users

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

• Range: 0 250

• Units: ms

• RebootRequired: True

GPS_BLEND_MASK: Multi GPS Blending Mask

Note: This parameter is for advanced users

Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2

• Bitmask: 0:Horiz Pos,1:Vert Pos,2:Speed

GPS_BLEND_TC: Blending time constant

Note: This parameter is for advanced users

Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences.

• Range: 5.0 30.0

• Units: s

GRIP Parameters

GRIP_ENABLE: Gripper Enable/Disable

Gripper enable/disable

GRIP_TYPE: Gripper Type

Gripper enable/disable

GRIP_GRAB: Gripper Grab PWM

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

• Range: 1000 2000

• Units: PWM

GRIP_RELEASE: Gripper Release PWM

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

• Range: 1000 2000

• Units: PWM

GRIP_NEUTRAL: Neutral PWM

Note: This parameter is for advanced users

PWM value in microseconds sent to grabber when not grabbing or releasing

• Range: 1000 2000

• Units: PWM

GRIP_REGRAB: Gripper Regrab interval

Note: This parameter is for advanced users

Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable

• Range: 0 255

• Units: s

GRIP_UAVCAN_ID: EPM UAVCAN Hardpoint ID

Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface

• Range: 0 255

INS Parameters

INS_PRODUCT_ID: IMU Product ID

Note: This parameter is for advanced users

unused

INS_GYROFFS_X: Gyro offsets of X axis

Note: This parameter is for advanced users

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

• Units: rad/s

INS_GYROFFS_Y: Gyro offsets of Y axis

Note: This parameter is for advanced users

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

• Units: rad/s

INS_GYROFFS_Z: Gyro offsets of Z axis

Note: This parameter is for advanced users

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

• Units: rad/s

INS_GYR2OFFS_X: Gyro2 offsets of X axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations

• Units: rad/s

INS_GYR2OFFS_Y: Gyro2 offsets of Y axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

• Units: rad/s

INS_GYR2OFFS_Z: Gyro2 offsets of Z axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

• Units: rad/s

INS_GYR3OFFS_X: Gyro3 offsets of X axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations

• Units: rad/s

INS_GYR3OFFS_Y: Gyro3 offsets of Y axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

• Units: rad/s

INS_GYR3OFFS_Z: Gyro3 offsets of Z axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

• Units: rad/s

INS_ACCSCAL_X: Accelerometer scaling of X axis

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

• Range: 0.8 1.2

INS_ACCSCAL_Y: Accelerometer scaling of Y axis

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

• Range: 0.8 1.2

INS_ACCSCAL_Z: Accelerometer scaling of Z axis

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

• Range: 0.8 1.2

INS_ACCOFFS_X: Accelerometer offsets of X axis

Note: This parameter is for advanced users

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5

• Units: m/s/s

INS_ACCOFFS_Y: Accelerometer offsets of Y axis

Note: This parameter is for advanced users

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5

• Units: m/s/s

INS_ACCOFFS_Z: Accelerometer offsets of Z axis

Note: This parameter is for advanced users

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5

• Units: m/s/s

INS_ACC2SCAL_X: Accelerometer2 scaling of X axis

Note: This parameter is for advanced users

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

• Range: 0.8 1.2

INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

• Range: 0.8 1.2

INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

• Range: 0.8 1.2

INS_ACC2OFFS_X: Accelerometer2 offsets of X axis

Note: This parameter is for advanced users

Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5

• Units: m/s/s

INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis

Note: This parameter is for advanced users

Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5

• Units: m/s/s

INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis

Note: This parameter is for advanced users

Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5

• Units: m/s/s

INS_ACC3SCAL_X: Accelerometer3 scaling of X axis

Note: This parameter is for advanced users

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

• Range: 0.8 1.2

INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

• Range: 0.8 1.2

INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

• Range: 0.8 1.2

INS_ACC3OFFS_X: Accelerometer3 offsets of X axis

Note: This parameter is for advanced users

Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5

• Units: m/s/s

INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis

Note: This parameter is for advanced users

Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5

• Units: m/s/s

INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis

Note: This parameter is for advanced users

Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations

• Range: -3.5 3.5

• Units: m/s/s

INS_GYRO_FILTER: Gyro filter cutoff frequency

Note: This parameter is for advanced users

Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)

• Range: 0 127

• Units: Hz

INS_ACCEL_FILTER: Accel filter cutoff frequency

Note: This parameter is for advanced users

Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)

• Range: 0 127

• Units: Hz

INS_USE: Use first IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

INS_USE2: Use second IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use second IMU for attitude, velocity and position estimates

INS_USE3: Use third IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use third IMU for attitude, velocity and position estimates

INS_STILL_THRESH: Stillness threshold for detecting if we are moving

Note: This parameter is for advanced users

Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5

• Range: 0.05 50

INS_GYR_CAL: Gyro Calibration scheme

Note: This parameter is for advanced users

Conrols when automatic gyro calibration is performed

INS_TRIM_OPTION: Accel cal trim option

Note: This parameter is for advanced users

Specifies how the accel cal routine determines the trims

INS_ACC_BODYFIX: Body-fixed accelerometer

Note: This parameter is for advanced users

The body-fixed accelerometer to be used for trim calculation

INS_POS1_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

• Units: m

INS_POS1_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

• Units: m

INS_POS1_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

• Units: m

INS_POS2_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

• Units: m

INS_POS2_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

• Units: m

INS_POS2_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

• Units: m

INS_POS3_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

• Units: m

INS_POS3_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

• Units: m

INS_POS3_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

• Units: m

INS_GYR_ID: Gyro ID

Note: This parameter is for advanced users

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

• ReadOnly: True

INS_GYR2_ID: Gyro2 ID

Note: This parameter is for advanced users

Gyro2 sensor ID, taking into account its type, bus and instance

• ReadOnly: True

INS_GYR3_ID: Gyro3 ID

Note: This parameter is for advanced users

Gyro3 sensor ID, taking into account its type, bus and instance

• ReadOnly: True

INS_ACC_ID: Accelerometer ID

Note: This parameter is for advanced users

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

• ReadOnly: True

INS_ACC2_ID: Accelerometer2 ID

Note: This parameter is for advanced users

Accelerometer2 sensor ID, taking into account its type, bus and instance

• ReadOnly: True

INS_ACC3_ID: Accelerometer3 ID

Note: This parameter is for advanced users

Accelerometer3 sensor ID, taking into account its type, bus and instance

• ReadOnly: True

INS_FAST_SAMPLE: Fast sampling mask

Note: This parameter is for advanced users

Mask of IMUs to enable fast sampling on, if available

LEAK Parameters

LEAK1_PIN: Pin that leak detector is connected to

Pin that the leak detector is connected to

LEAK1_LOGIC: Default reading of leak detector when dry

Default reading of leak detector when dry

LEAK2_PIN: Pin that leak detector is connected to

Pin that the leak detector is connected to

LEAK2_LOGIC: Default reading of leak detector when dry

Default reading of leak detector when dry

LEAK3_PIN: Pin that leak detector is connected to

Pin that the leak detector is connected to

LEAK3_LOGIC: Default reading of leak detector when dry

Default reading of leak detector when dry

LOG Parameters

LOG_BACKEND_TYPE: DataFlash Backend Storage type

0 for None, 1 for File, 2 for dataflash mavlink, 3 for both file and dataflash

LOG_FILE_BUFSIZE: Maximum DataFlash File Backend buffer size (in kilobytes)

The DataFlash_File backend uses a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.

LOG_DISARMED: Enable logging while disarmed

If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues

LOG_REPLAY: Enable logging of information needed for Replay

If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost

LOG_FILE_DSRMROT: Stop logging to current file on disarm

When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened.

MNT Parameters

MNT_DEFLT_MODE: Mount default operating mode

Mount default operating mode on startup and after control is returned from autopilot

MNT_RETRACT_X: Mount roll angle when in retracted position

Mount roll angle when in retracted position

• Range: -180.00 179.99

• Increment: 1

• Units: deg

MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position

Mount tilt/pitch angle when in retracted position

• Range: -180.00 179.99

• Increment: 1

• Units: deg

MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position

Mount yaw/pan angle when in retracted position

• Range: -180.00 179.99

• Increment: 1

• Units: deg

MNT_NEUTRAL_X: Mount roll angle when in neutral position

Mount roll angle when in neutral position

• Range: -180.00 179.99

• Increment: 1

• Units: deg

MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position

Mount tilt/pitch angle when in neutral position

• Range: -180.00 179.99

• Increment: 1

• Units: deg

MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position

Mount pan/yaw angle when in neutral position

• Range: -180.00 179.99

• Increment: 1

• Units: deg

MNT_STAB_ROLL: Stabilize mount's roll angle

enable roll stabilisation relative to Earth

MNT_STAB_TILT: Stabilize mount's pitch/tilt angle

enable tilt/pitch stabilisation relative to Earth

MNT_STAB_PAN: Stabilize mount pan/yaw angle

enable pan/yaw stabilisation relative to Earth

MNT_RC_IN_ROLL: roll RC input channel

0 for none, any other for the RC channel to be used to control roll movements

MNT_ANGMIN_ROL: Minimum roll angle

Minimum physical roll angular position of mount.

• Range: -18000 17999

• Increment: 1

• Units: cdeg

MNT_ANGMAX_ROL: Maximum roll angle

Maximum physical roll angular position of the mount

• Range: -18000 17999

• Increment: 1

• Units: cdeg

MNT_RC_IN_TILT: tilt (pitch) RC input channel

0 for none, any other for the RC channel to be used to control tilt (pitch) movements

MNT_ANGMIN_TIL: Minimum tilt angle

Minimum physical tilt (pitch) angular position of mount.

• Range: -18000 17999

• Increment: 1

• Units: cdeg

MNT_ANGMAX_TIL: Maximum tilt angle

Maximum physical tilt (pitch) angular position of the mount

• Range: -18000 17999

• Increment: 1

• Units: cdeg

MNT_RC_IN_PAN: pan (yaw) RC input channel

0 for none, any other for the RC channel to be used to control pan (yaw) movements

MNT_ANGMIN_PAN: Minimum pan angle

Minimum physical pan (yaw) angular position of mount.

• Range: -18000 17999

• Increment: 1

• Units: cdeg

MNT_ANGMAX_PAN: Maximum pan angle

Maximum physical pan (yaw) angular position of the mount

• Range: -18000 17999

• Increment: 1

• Units: cdeg

MNT_JSTICK_SPD: mount joystick speed

0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.

• Range: 0 100

• Increment: 1

MNT_LEAD_RLL: Roll stabilization lead time

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.

• Range: 0.0 0.2

• Increment: .005

• Units: s

MNT_LEAD_PTCH: Pitch stabilization lead time

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.

• Range: 0.0 0.2

• Increment: .005

• Units: s

MNT_TYPE: Mount Type

Mount Type (None, Servo or MAVLink)

• RebootRequired: True

MNT2_DEFLT_MODE: Mount default operating mode

Mount default operating mode on startup and after control is returned from autopilot

MNT2_RETRACT_X: Mount2 roll angle when in retracted position

Mount2 roll angle when in retracted position

• Range: -180.00 179.99

• Increment: 1

• Units: deg

MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position

Mount2 tilt/pitch angle when in retracted position

• Range: -180.00 179.99

• Increment: 1

• Units: deg

MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position

Mount2 yaw/pan angle when in retracted position

• Range: -180.00 179.99

• Increment: 1

• Units: deg

MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position

Mount2 roll angle when in neutral position

• Range: -180.00 179.99

• Increment: 1

• Units: deg

MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position

Mount2 tilt/pitch angle when in neutral position

• Range: -180.00 179.99

• Increment: 1

• Units: deg

MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position

Mount2 pan/yaw angle when in neutral position

• Range: -180.00 179.99

• Increment: 1

• Units: deg

MNT2_STAB_ROLL: Stabilize Mount2's roll angle

enable roll stabilisation relative to Earth

MNT2_STAB_TILT: Stabilize Mount2's pitch/tilt angle

enable tilt/pitch stabilisation relative to Earth

MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle

enable pan/yaw stabilisation relative to Earth

MNT2_RC_IN_ROLL: Mount2's roll RC input channel

0 for none, any other for the RC channel to be used to control roll movements

MNT2_ANGMIN_ROL: Mount2's minimum roll angle

Mount2's minimum physical roll angular position

• Range: -18000 17999

• Increment: 1

• Units: cdeg

MNT2_ANGMAX_ROL: Mount2's maximum roll angle

Mount2's maximum physical roll angular position

• Range: -18000 17999

• Increment: 1

• Units: cdeg

MNT2_RC_IN_TILT: Mount2's tilt (pitch) RC input channel

0 for none, any other for the RC channel to be used to control tilt (pitch) movements

MNT2_ANGMIN_TIL: Mount2's minimum tilt angle

Mount2's minimum physical tilt (pitch) angular position

• Range: -18000 17999

• Increment: 1

• Units: cdeg

MNT2_ANGMAX_TIL: Mount2's maximum tilt angle

Mount2's maximum physical tilt (pitch) angular position

• Range: -18000 17999

• Increment: 1

• Units: cdeg

MNT2_RC_IN_PAN: Mount2's pan (yaw) RC input channel

0 for none, any other for the RC channel to be used to control pan (yaw) movements

MNT2_ANGMIN_PAN: Mount2's minimum pan angle

Mount2's minimum physical pan (yaw) angular position

• Range: -18000 17999

• Increment: 1

• Units: cdeg

MNT2_ANGMAX_PAN: Mount2's maximum pan angle

MOunt2's maximum physical pan (yaw) angular position

• Range: -18000 17999

• Increment: 1

• Units: cdeg

MNT2_LEAD_RLL: Mount2's Roll stabilization lead time

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.

• Range: 0.0 0.2

• Increment: .005

• Units: s

MNT2_LEAD_PTCH: Mount2's Pitch stabilization lead time

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.

• Range: 0.0 0.2

• Increment: .005

• Units: s

MNT2_TYPE: Mount2 Type

Mount Type (None, Servo or MAVLink)

MOT Parameters

MOT_1_DIRECTION: Motor normal or reverse

Used to change motor rotation directions without changing wires

MOT_2_DIRECTION: Motor normal or reverse

Used to change motor rotation directions without changing wires

MOT_3_DIRECTION: Motor normal or reverse

Used to change motor rotation directions without changing wires

MOT_4_DIRECTION: Motor normal or reverse

Used to change motor rotation directions without changing wires

MOT_5_DIRECTION: Motor normal or reverse

Used to change motor rotation directions without changing wires

MOT_6_DIRECTION: Motor normal or reverse

Used to change motor rotation directions without changing wires

MOT_7_DIRECTION: Motor normal or reverse

Used to change motor rotation directions without changing wires

MOT_8_DIRECTION: Motor normal or reverse

Used to change motor rotation directions without changing wires

MOT_FV_CPLNG_K: Forward/vertical to pitch decoupling factor

Used to decouple pitch from forward/vertical motion. 0 to disable, 1.2 normal

• Range: 0.0 1.5

• Increment: 0.1

MOT_9_DIRECTION: Motor normal or reverse

Used to change motor rotation directions without changing wires

MOT_10_DIRECTION: Motor normal or reverse

Used to change motor rotation directions without changing wires

MOT_11_DIRECTION: Motor normal or reverse

Used to change motor rotation directions without changing wires

MOT_12_DIRECTION: Motor normal or reverse

Used to change motor rotation directions without changing wires

MOT_YAW_HEADROOM: Matrix Yaw Min

Note: This parameter is for advanced users

Yaw control is given at least this pwm in microseconds range

• Range: 0 500

• Units: PWM

MOT_THST_EXPO: Thrust Curve Expo

Note: This parameter is for advanced users

Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)

• Range: 0.25 0.8

MOT_SPIN_MAX: Motor Spin maximum

Note: This parameter is for advanced users

Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range

• Values: 0.9:Low, 0.95:Default, 1.0:High

MOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage

Note: This parameter is for advanced users

Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.4 * cell count, 0 = Disabled

• Range: 6 35

• Units: V

MOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage

Note: This parameter is for advanced users

Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled

• Range: 6 35

• Units: V

MOT_BAT_CURR_MAX: Motor Current Max

Note: This parameter is for advanced users

Maximum current over which maximum throttle is limited (0 = Disabled)

• Range: 0 200

• Units: A

MOT_PWM_TYPE: Output PWM type

Note: This parameter is for advanced users

This selects the output PWM type, allowing for normal PWM continuous output, OneShot or brushed motor output

• RebootRequired: True

MOT_PWM_MIN: PWM output miniumum

Note: This parameter is for advanced users

This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN

• Range: 0 2000

• Units: PWM

MOT_PWM_MAX: PWM output maximum

Note: This parameter is for advanced users

This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX

• Range: 0 2000

• Units: PWM

MOT_SPIN_MIN: Motor Spin minimum

Note: This parameter is for advanced users

Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.

• Values: 0.0:Low, 0.15:Default, 0.3:High

MOT_SPIN_ARM: Motor Spin armed

Note: This parameter is for advanced users

Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.

• Values: 0.0:Low, 0.1:Default, 0.2:High

MOT_BAT_CURR_TC: Motor Current Max Time Constant

Note: This parameter is for advanced users

Time constant used to limit the maximum current

• Range: 0 10

• Units: s

MOT_THST_HOVER: Thrust Hover Value

Note: This parameter is for advanced users

Motor thrust needed to hover expressed as a number from 0 to 1

• Range: 0.2 0.8

MOT_HOVER_LEARN: Hover Value Learning

Note: This parameter is for advanced users

Enable/Disable automatic learning of hover throttle

MOT_SAFE_DISARM: Motor PWM output disabled when disarmed

Note: This parameter is for advanced users

Disables motor PWM output when disarmed

MOT_YAW_SV_ANGLE: Yaw Servo Max Lean Angle

Yaw servo's maximum lean angle

• Range: 5 80

• Increment: 1

• Units: deg

MOT_SPOOL_TIME: Spool up time

Note: This parameter is for advanced users

Time in seconds to spool up the motors from zero to min throttle.

• Range: 0 2

• Increment: 0.1

• Units: s

MOT_BOOST_SCALE: Motor boost scale

Note: This parameter is for advanced users

This is a scaling factor for vehicles with a vertical booster motor used for extra lift. It is used with electric multicopters that have an internal combustion booster motor for longer endurance. The output to the BoostThrottle servo function is set to the current motor thottle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.

• Range: 0 5

• Increment: 0.1

NTF Parameters

NTF_LED_BRIGHT: LED Brightness

Note: This parameter is for advanced users

Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.

NTF_BUZZ_ENABLE: Buzzer enable

Note: This parameter is for advanced users

Enable or disable the buzzer. Only for Linux and PX4 based boards.

NTF_LED_OVERRIDE: Setup for MAVLink LED override

Note: This parameter is for advanced users

This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled

NTF_DISPLAY_TYPE: Type of on-board I2C display

Note: This parameter is for advanced users

This sets up the type of on-board I2C display. Disabled by default.

NTF_OREO_THEME: OreoLED Theme

Note: This parameter is for advanced users

Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme

PSC Parameters

PSC_ACC_XY_FILT: XY Acceleration filter cutoff frequency

Note: This parameter is for advanced users

Lower values will slow the response of the navigation controller and reduce twitchiness

• Range: 0.5 5

• Increment: 0.1

• Units: Hz

RCn Parameters

RCn_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200

• Increment: 1

• Units: PWM

RCn_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200

• Increment: 1

• Units: PWM

RCn_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

• Range: 800 2200

• Increment: 1

• Units: PWM

RCn_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RCn_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

• Range: 0 200

• Units: PWM

RELAY Parameters

RELAY_PIN: First Relay Pin

Digital pin number for first relay control. This is the pin used for camera control.

RELAY_PIN2: Second Relay Pin

Digital pin number for 2nd relay control.

RELAY_PIN3: Third Relay Pin

Digital pin number for 3rd relay control.

RELAY_PIN4: Fourth Relay Pin

Digital pin number for 4th relay control.

RELAY_DEFAULT: Default relay state

The state of the relay on boot.

RNGFND Parameters

RNGFND_TYPE: Rangefinder type

What type of rangefinder device that is connected

RNGFND_PIN: Rangefinder pin

Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.

RNGFND_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

• Increment: 0.001

• Units: m/V

RNGFND_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

• Increment: 0.001

• Units: V

RNGFND_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)scaling. For a inverted function the distance is (offset-voltage)scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

RNGFND_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

• Increment: 1

• Units: cm

RNGFND_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

• Increment: 1

• Units: cm

RNGFND_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.

RNGFND_SETTLE: Rangefinder settle time

The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.

• Increment: 1

• Units: ms

RNGFND_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

RNGFND_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

• Range: 0 32767

• Units: m

RNGFND_GNDCLEAR: Distance (in cm) from the range finder to the ground

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

• Range: 5 127

• Increment: 1

• Units: cm

RNGFND_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

• Range: 0 127

• Increment: 1

RNGFND_POS_X: X position offset

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

• Units: m

RNGFND_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

• Units: m

RNGFND_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

• Units: m

RNGFND_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

RNGFND2_TYPE: Second Rangefinder type

Note: This parameter is for advanced users

What type of rangefinder device that is connected

RNGFND2_PIN: Rangefinder pin

Note: This parameter is for advanced users

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.